Abstract
The paper presents a multiport model of flexible multibody systems by analogy with connection multiports in electrical circuits. We employ the finite element method to describe deformations of flexible bodies associated with large overall motions, which we incorporate into the multiport model in order to set up various kinematical and dynamical relations appeared in the flexible multibody systems. It is shown that a concept of a fundamental pair, that is, a pair of a mechanical joint and its adjacent body is introduced so that we can recognize the flexible multibody system as an interconnected system of such fundamental pairs. Then we demonstrate how kinematical and dynamical relations such as geometric nonlinear effects associated with the flexible deformations and kinematical relations due to the mechanical joint can be modeled as the nonenergic multiports, and we also illustrate that dual connection matrices effectively represent their mathematical expressions. Finally it is shown that the interconnection of the nonenergic multiports with physical elements provides a multiport model of the flexible multibody system and also that the required mathematical models can be systematically formulated by the present approach.
