【摘要】 针对关节饺柔性多体系统建立了Ｒ／Ｗ体系的动力学方程，并进一步推广到非树及约束型多体系统。本文采用适合描述弹性变形和进行弹性体离散的刚性连体浮动坐标系，用相对描述方法来分解部件的运动，用部件模态方法对弹性体进行离散，从达朗伯原理出发建立了Ｒ／Ｗ体系的系统动力学方程。方程对于运动的分解、部件的弹性离散以及对系统的结构描述都比较直观和简单，系统的广义坐标数目也小。方程推广到非树系统和约束系统后，采用奇异值分解缩聚法来处理约束或闭合条件，并使方程能够自动判别系统运动中的奇异性，改善了数值计算性态。本文的数学模型尽管刚柔耦合较强，但在空间闭环的算例上得到的计算结果是令人满意的，计算过程中数值稳定性和收敛性都很好。更多还原

【Abstract】 Dynamical equations of articulated flexible multibody systems are presented in.the type of a R/W system,and extented to non-tree or constrained multibody systems.The motion of component bodies of the systems has been analysed using the floating reference frames which are defined on the rigid states of flexible bodies,and then it is easy to separate elastic motion. Vibration modes of components and mode coordinates are used to express the flexibility of component bodies. About non-tree and constrained multibody systems,the singular value decomposition method has been adopted to deal with the constraint equations resulting from closure conditions or constraint conditions. With this method the singular positions arising from motion of system,if exist,can be distinguished in time. The mathematical mode resulting from this paper is seemed to be highly coupled between rigid displacements and flexible displacements of component bodies, the author have obtained encouraged numerical results when used it to calculate an example about flexible multibody systems-spatial closed loop.更多还原