Abstract: This paper presents a new general dynamic equation of tree topological systems of flexible bodies connected by revolute joints or/and translate joints. In this equation, the dynamic responses of rigid-bending coupling, rigid-torsional coupling and bending-torsional coupling are taken into accounts. With use of the Lagrange’s multiplier method, this paper also derives a dynamic equation of general flexible spatial close-chain mechanisms.

Key words: 变形, 动力学, 分析, 空间机构