A recursive formulation for flexible multibody dynamics, part II: Closed loop systems

Abstract

A recursive formulation for dynamics of closed loop flexible multibody systems is presented. Joints in closed loops in a flexible mechanism are cut to form a spanning tree structure. Cut joint constraint equations and associated Lagrange multipliers are introduced to represent cut joint reaction force and torque. A recursive formulation for closed loop systems is derived by extending the method presented in Part I of the paper. A flexible four-bar mechanism and a space robot system are studied to demonstrate efficiency of the recursive formulation.