1993 年 59 巻 558 号 p. 414-421
This paper deals with a mathematical model of flexible bodies connected by rotary joints based on the Lagrangian formulation. The equations of motion are derived in terms of angular velocities of the bodies and amplitudes of elastic deformation modes of the bodies. The kinetic energy, which is a quadratic form of the velocities, comes to be of a simple form when the elastic deformation modes are chosen to be orthogonal to the translational displacement modes of the mass centers of the bodies. This, in turn, causes the equations of motion to be formulated in a recursive form.