Chinese Journal of Theoretical and Applied Mechani ›› 2006, Vol. 38 ›› Issue (2): 276-282.DOI: 10.6052/0459-1879-2006-2-2005-101

• Research paper • Previous Articles     Next Articles

Rigid-flexible coupling dynamics of a flexible beam with three-dimensional


  1. 上海交通大学工程力学系,200030
  • Received:1900-01-01 Revised:1900-01-01 Online:2006-03-25 Published:2006-03-25

Abstract: In this paper, the modeling theory of rigid-flexible coupling dynamics of a flexible beam with three-dimensional large overall motion is studied. Based on the precise strain-displacement relation, the rigid-flexible coupling dynamic equations are derived using the velocity variational principle, in which the virtual power of the torsion force and the inertial torque of the beam element are included and the geometric nonlinearity is taken into account. Finite element method is employed for discretization. Simulation of a spatial beam system is used to show the influence of torsion and cross section rotary inertia on the dynamic performance of the system. Conservation of energy in case of free motion is shown to verify the proposed nonlinear model. It is shown that the torsion deformation influences not only the axial angular velocity of the hub, but also the lateral angular velocity of the hub and the bending deformation of the beam.

Key words: flexible beam,three-dimensional large overall motion,rigid-flexible coupling dynamics,geometric nonlinearity,cross section rotary inertia,torsion