SUMMARY

Multibody dynamic simulation is a critically useful tool in the development and analysis of novel systems. In this thesis, a constrained coordinate multibody dynamic simulation algorithm is presented and analyzed. The algorithm is flexible enough to allow new simulations to be developed quickly, and it provides inter-body loading information directly to the developer. However, it is shown to be computationally expensive for large systems. This thesis develops methods to significantly reduce computation time for a variety of systems. These methods are then applied to a simulation study of a flexible-legged lander for a theoretical exploratory mission to Europa. It is shown that passive flexible and actively controlled legs can reduce lander acceleration, leg loads, and rollover risk.