DYNAMICS OF FLEXIBLE MULTIBODY SYSTEMS USING NONLINEAR EXPRESSION OF DEFORMATION FIELDS

Convention.al modeling methods for dynamics of flexible multibody systemshave been widely believed that dynamic equations by using methods are unavoidably linearized prematurely in deformation coordinates, which results in loss of dynamic stiffening terms in the equations. This paper presents a multi-flexible-bodydynamics formulation incorporating a recently developed theory based on nonlinearexpression of deformation fields over a flexible body undergoing large motion accompanied by small vibrations. The deformation fields are described by second ordernon-linear form of deformation coordinates, and equations of motion including dynamic stiffening terms are derived by means of Kane's method. Simulation resultsof a rotating flexible body, involving stiffening during spinnup motion, demonstratethe validity and generality of the theory presented in this paper.