Abstract: Based on Kane’s equation, dynamics model of flexible body of arbitrary shape is established, and then the general dynamics analysis method for flexible body is extended and applied to general flexible multi-body system with no constrains on its topology. Together with Huston low-body array, which is used to describe the topology of multi-body system, dynamical equations are set up for general flexible multi-body system. For general flexible multi-body system in consideration of environment characteristic, environmental characteristic can be seen as external constrains to flexible multi-body system, and dynamical equations are set up for constrained general flexible multi-body system.

Key words: Constrain, Dynamical model, Environment characteristic, Flexible multi-body system