2002 年 68 巻 673 号 p. 2517-2524
The purpose of this study is to develop a procedure for performing a dynamic analysis in the case that a flexible multibody system in three dimensions moves along a nonlinear trajectory at variable velocity. The kinetic energy of a multibody system moving along a nonlinear trajectory and the strain energy due to elastic deformation were derived using a finite element method. Then the equations of motion were derived by applying those energies to Lagrange's equation. The computational codes for an eigen-value analysis and time history responses were developed using the derived equations of motion. Eigen-value analysis on model system comprised of two flexible links and a rigid moving body and time history responses on model system moving along a nonlinear trajectory were calculated using the derived computational codes.