A generalized recursive formulation for constrained flexible multibody dynamics (Q2712689)

The authors deal with the development of a coordinate formulation for the dynamics of flexible multibodies subjected to constraints. The approach is based on a recursive formulation which is both notationally compact and computationally efficient. A virtual rigid body is introduced at every joint, and a virtual flexible body joint is introduced in the two-body reference frames between the virtual original body, so that the flexible body is subjected to only kinematic admissibility condition for flexible body joint. Numerical resuls are plotted into diagrams.