This information is part of the Modelica Standard Library maintained by the Modelica Association.

• Technical details of this library are described in the paper:

  Otter M., Elmqvist H., and Mattsson S.E.:

  The New Modelica MultiBody Library. Modelica 2003 Conference, Linköping, Sweden, pp. 311-330, Nov. 3-4, 2003. Download from: https://www.modelica.org/events/Conference2003/papers/h37_Otter_multibody.pdf

• The method how to describe drive trains with 1-dimensional mechanics and to mount them on 3-dimensional components without neglecting dynamical effects is described in:

  Schweiger C., and Otter M.:

  Modelling 3-dim. Mechanical Effects of 1-dim. Powertrains. Modelica 2003 Conference, Linköping, Sweden, pp. 149-158, Nov. 3-4, 2003. Download from: https://www.modelica.org/events/Conference2003/papers/h06_Schweiger_powertrains_v5.pdf

• The method to solve a certain class of kinematic loops analytically is based on:

  Woernle C.:

  Ein systematisches Verfahren zur Aufstellung der geometrischen Schliessbedingungen in kinematischen Schleifen mit Anwendung bei der Rückwärtstransformation für Industrieroboter.
  Fortschritt-Berichte VDI, Reihe 18, Nr. 59, Duesseldorf: VDI-Verlag 1988, ISBN 3-18-145918-6.
   

  Hiller M., and Woernle C.:

  A Systematic Approach for Solving the Inverse Kinematic Problem of Robot Manipulators.
  Proceedings 7th World Congress Th. Mach. Mech., Sevilla 1987.