The Kane's dynamical model of flexible multibody space systems with tree structure is developed in this paper. The system topology is restricted to a tree configuration,which is defined as an arbitrary set of flexible and rigid bodies connected by hinges characterizing relative translations and rotations of two adjoining bodies. The relative translatioal velocities,angular velocities,and the differential of model coordinates are selected as the generalized velocities. The motion equations of minimum dimension are derived via Kane's method. The resulting equations are suitable for automatic generation,and simulated by computer.
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金梁,Helmut F. Bauer.树形挠性多体系统的 Kane 动力学方程 ——一种面向计算机的建模方法. Kane's Equations of Flexible Multibody Systems with Tree Structure—— A Computer-Oriented Modeling Approach[J].国防科技大学学报,1991,13(3):10-17.