Examination and comparison of different methods to model closed loop kinematic chains using Lagrangian formulation with cut joint, clearance joint constraint and elastic joint approaches

•The classical Newton-Euler method and Lagrangian formulation are revisited in this work.•The Lagrangian formulation can be quite complex when applied to closed loop systems.•Three approaches are presented to transform the closed loop topologies into open-loop systems.•The cut joint, the clearance joint constraint, and the elastic joint formulations are utilized.•The different approaches described are applied and the results are compared for a closed loop system.