关键词: ADAMS, 动力学, 绝对节点坐标法, 柔性梁系统, 大变形

Abstract:

：The dynamic modeling and simulation for three dimensional flexible beam systems is studied. The absolute nodal coordinate formulation is used to describe the large deformation and large overall motion of a flexible body. The dynamic model of three dimensional flexible beam systems is established. Based on the said dynamic model a software package to implement the dynamic simulation for three dimensional flexible beam systems with large deformations is compiled. In order to validate the algorithm presented in this paper, two numerical examples are given. One is about the dynamic simulation of a flexible single pendulum dropping freely from one orientation. In this simulation example the results obtained using the proposed model are compared with the results obtained using methods in existing literature, and consequently the correctness of the proposed dynamic model is proven. The other dynamic simulation is carried out for a flexible double pendulum dropping freely from one spatial configuration which can lead to the large deformations. In this simulation of the spatial double pendulum the results obtained using the proposed model are compared with the results obtained using the commercial software ADAMS. The results show that there exists limitation for the software ADAMS to calculate the dynamics of a system with large deformations. Unlike the software ADAMS, the dynamic model obtained can be effectively used in the applications in which the bodies undergo large deformations and large rotations and used to solve these dynamics problems.

Key words: absolute nodal coordinate formulation, ADAMS, dynamics, flexible beam systems, large deformation