EXUDYN

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Exudyn

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A flexible multibody dynamics systems simulation code with Python and C++

• Exudyn version = 1.10.0 (Lagrene)
• University of Innsbruck, Department of Mechatronics, Innsbruck, Austria

.. |pic7| image:: docs/theDoc/figures/ExudynLOGO1.9.jpg :width: 300

Update on Exudyn V1.9.0: newer examples use exudyn.graphics instead of GraphicsData functions. FEM now uses internally in mass and stiffness matrices the scipy sparse csr matrices.

• Exudyn is free, open source and with plenty of documentation, examples, and test models
• pre-built for Python 3.9 - 3.13 under Windows , Linux and MacOS available ( older versions available for Python >= 3.6); build wheels yourself, see theDoc.pdf <https://github.com/jgerstmayr/EXUDYN/blob/master/docs/theDoc/theDoc.pdf>_ )
• Exudyn can be linked to any other Python package, but we explicitly mention: NGsolve <https://github.com/NGSolve/ngsolve>, OpenAI <https://github.com/openai>, OpenAI gym <https://github.com/openai/gym>, Robotics Toolbox (Peter Corke) <https://github.com/petercorke/robotics-toolbox-python>, Pybind11 <https://github.com/pybind/pybind11>_

.. |pic1| image:: docs/demo/screenshots/pistonEngine.gif :width: 200

.. |pic2| image:: docs/demo/screenshots/hydraulic2arm.gif :width: 200

.. |pic3| image:: docs/demo/screenshots/particles2M.gif :width: 120

.. |pic4| image:: docs/demo/screenshots/shaftGear.png :width: 160

.. |pic5| image:: docs/demo/screenshots/rotor_runup_plot3.png :width: 190

.. |pic6| image:: docs/theDoc/figures/DrawSystemGraphExample.png :width: 240

|pic1| |pic2| |pic3| |pic4| |pic5| |pic6|

How to cite:

• Johannes Gerstmayr. Exudyn -- A C++ based Python package for flexible multibody systems. Multibody System Dynamics, Vol. 60, pp. 533-561, 2024. https://doi.org/10.1007/s11044-023-09937-1 <https://doi.org/10.1007/s11044-023-09937-1>_

Due to limitations for complex formulas, images and references in .rst files, some (small) details are only available in theDoc.pdf, see the github page of Exudyn <https://github.com/jgerstmayr/EXUDYN/blob/master/docs/theDoc/theDoc.pdf>_! There may also be some conversion errors in the auto-generated html pages.

For license, see LICENSE.txt in the root github folder on github!

If you like using Exudyn, please add a star on github and follow us on Twitter @RExudyn <https://twitter.com/RExudyn>_ !

In addition to the tutorials in the documentation, many ( 250+ ) examples can be downloaded on github under main/pythonDev/Examples and main/pythonDev/TestModels . They are also on ReadTheDocs.

Note that ChatGPT and other large language models know Exudyn quite well. They are able to build parts of your code or even full models, see https://doi.org/10.1007/s11044-023-09962-0 <https://doi.org/10.1007/s11044-023-09962-0>_

Tutorial videos can be found in the YouTube channel of Exudyn <https://www.youtube.com/playlist?list=PLZduTa9mdcmOh5KVUqatD9GzVg_jtl6fx>_ !

NOTE: NumPy switched to version 2.x which causes problems with packages that are not adapted to NumPy 2.x. The current version of Exudyn is already compatible with NumPy 2.x AND 1.x, however, some external packages (SciPy, robotics tools, etc.) may cause problems, therefore you could still use Numpy 1.26 (not available for Python >= 3.13).

NOTE: We finally like to emphasize that this is an open source library; we receive no specific money and most developements are done during free (=night) time; some models are simplifications that work for our needs, but may not be appropriate in your case; some models are under development (usually stated in theDoc) or may have bugs, therefore do not fully rely on all elements of the library!

Enjoy the Python library for multibody dynamics modeling, simulation, creating large scale systems, parameterized systems, component mode synthesis, optimization, ...

Changes can be tracked in the Issue tracker, see Github pages and Read the Docs.

\ FOR FURTHER INFORMATION see Exudyn Github pages <https://jgerstmayr.github.io/EXUDYN>\ , Read the Docs <https://exudyn.readthedocs.io/> and for details (incl. equations) see theDoc.pdf <https://github.com/jgerstmayr/EXUDYN/blob/master/docs/theDoc/theDoc.pdf>_ !!!