Rigid-flexible Coupling The Multibody System Dynamics Modeling And Simulation

The dynamics modeling theory and simulation of rigid-flexible coupling system is studied in this dissertation.The rigid-flexible coupling system is a typical multi-body system. Its dynamic problems are quite different from the dynamic problems of a multi-rigidbody system, in which the complexity is shown as the coupling system between the large overall rigid motion and the small elastic deformation. Kane studied the elastic beam model with large overall motion and introduced the concept of Dynamic Stiffening. The coupling deformation term, which is produced by the couple of deformation in lognitudinal and in transverse direction, is the key of Dynamic Stiffening.Based on the theories of multi-body systems, this dissertation presented a novel dynamic model for a flexible cantilever beam attached to a moving central rigid-body undergoing an arbitrarily three-dimensional large overall motion with dynamic stiffening and the subsystem method for dynamics of a rigid-flexible coupling system. The approach reported in this paper divides a complex system into several simple subsystems firstly and then obtains the dynamic model for the whole system via combining the existing dynamic models for simple subsystems, which can avoid the complexity of modeling and make the modeling procedure more efficient and the coupling degrees of dynamic equations lower than that of traditional methods. The newly coded software is significant in precision and generality, by which conclusions are drawn from simulation examples.