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Abstract
Multibody modeling features have been added to the CHARM Toolbox to support rotorcraft and other flight vehicle simulation problems that require inclusion of constraint relationships between interacting systems and components. The methodology incorporates the attractive features of the Udwadia-Kalaba pseudo-inverse solution process to extract the perturbation accelerations on the bodies subject to constraints, and is incorporated into a MATLAB- based analysis tool that features 3D graphics visualization, GUI parameter editing, and solution control features. Examples of the tool's usage include applications for flapping wing mechanisms design, and a towed flight simulation of a compound autogyro designed to test rotor state feedback control concepts.

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  Multibody Modeling Extensions Supporting Enhanced Aircraft Simulations

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