The Motion Formalism for Flexible Multibody Systems

Abstract

This paper describes a finite element approach to the analysis of flexible multibody systems. It is based on the motion formalism that (1) uses configuration and motion to describe the kinematics of flexible multibody systems, (2) recognizes that these are members of the special Euclidean group thereby coupling their displacement and rotation components, and (3) resolves all tensors components in local frames. The goal of this review paper is not to provide an in-depth derivation of all the elements found in typical multibody codes but rather to demonstrate how the motion formalism (1) provides a theoretical framework that unifies the formulation of all structural elements, (2) leads to governing equations of motion that are objective, intrinsic, and present a reduced order of nonlinearity, (3) improves the efficiency of the solution process, and (4) prevents the occurrence of singularities.