Robotran modeling cycle
The above toolchain describes the different steps during a classic Robotran modeling cycle. Check the different steps via the buttons above. Then, go down to start building your own project in Robotran.

Step 1: Draw your multibody system
The first step consists in defining the topology of your multibody system. To do so, the user specifies the topology of the MBS (bodies and joints) and the system data (mass, inertia, lengths) with the help of the graphical editor MBsysPad. The topological description (i.e., tree structure) and the system data are stored in a .mbs file (i.e., a .xml).

Step 2: Generate your multibody equations
Once the topology is defined, you can ask the symbolic generator to write the equations of motion of your system. Equations are outputted as Matlab, C or Python routines.

Step 3: Write your user functions
This step consists in writing constitutive laws specific to your model. Typically, it is a predefined joint trajectory, a spring-damper law for a force element, a user constraint, etc. This is done within the computer environment MBsysSim in Matlab, C or Python code.

Step 4: Run your simulation
The model files (symbolic and user) are fed to numerical mudles that are used to perform various analyses: equilibrium, direct dynamics (time simulation), inverse dynamics, modal analyses. The user specifies the analysis by calling the modules within a main file.

Step 5: Analyse and animate your 3D MBS
Finally, simulation results are available in structures and files that can be plotted in the user preferred environment (Matlab, Matplotlib, etc.). The graphical editor MBsysPad also provides the possibility to make 3D animations.