The Recursive Forward Dynamics of Flexible Mechanical Systems

Abstract

Lie groups and Lie algebras are used to study the recursive dynamics of flexible multi-body systems. First the adjoint transformations and adjoint operators of Lie groups and Lie algebras are discussed. Then the generalized mass matrix of flexible mechanical systems is built on the basis of modal vector. And then the inverse and forward dynamics of flexible mechanical systems are constructed. These two recursive formulas are of high efficient. Finally a four-bar model with flexible body is simulated with above method. The simulation results show that with the method can be solved quickly and efficiently.