【摘要】 采用计及变形约束的非线性运动学分析方法及传统分析方法建立简单柔性机械臂线性化的动力学方程。笔者认为：运动的柔性机械构件由于其变形与运动的耦合产生动力刚化，传统分析方法失去了刚体运动与弹性振动耦合的动力刚化项；如果在建立运动学方程时，计及运动学的非线性项，至少要计及振动坐标的二阶小量，将非线性保留到适当阶段，再线性化，能够得到一致线性化的动力学方程，这种方法适合于机械系统构件的小变形问题。对动力则化的研究实际上是再现机械系统中柔性体的真实运动规律。更多还原

【Abstract】 The linearization dynamic equations of asimple flexible manipulator have been developed by using the conventional method and the nonlinearized motion analyzing method in consideration of deformation constraints.The authors think: the flexible members have the phenomenon of dynamic stiffening due to coupling between large overall motion and small vibrations, which improves stiffness and stability of the members. The conventional method, which linearizes the deformation coordinates before modelling the kinematic equations,could consider only partial effects of the large overall motion on the deformation vibration. Dynamic stiffening terms would be losen.Nonlinear terms of vibration coordinates in kinematic analysis,at least the second order terms, should be considered.retatined up to the certain phase, and then linearized to form consistent linear dynamic equations. This method can be used to deal with small deformation of the mechanical members. One of the aims at studying dynamic stiffening is to describe the motion law of the flexible body really,which is a need of development of the modern mechanical systems.更多还原