Abstract
An effective method for modelling the dynamic response of multibody systems with flexible joints is presented. The method combines the use of finite element method with Kane's equations to present an algorithm strictly in terms of the generalized coordinates of the system. The procedures developed outline the automatic incorporation of the joint flexibility in the equations of motion, hence a more accurate mathematical model is developed. One other advantage to the method presented lies in the explicit forms of the coefficients needed in the analysis where they are readily expressed in a form suited for computer implementation. A discussion on possible applications is also presented.
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