中文摘要：

在精确描述柔性梁变形的基础上，针对具有大范围运动的大型空间柔性结构的动力学建模方法进行了研究。首先利用有限元方法对空间柔性梁结构进行离散，导出其动能、势能及广义力，然后采用Lagrange方程建立系统的精确动力学方程。该方程包含各个方向的变形、变形运动与大范围运动的相互耦合项。

英文摘要：

After describing accurately the deformation of a flexible beam, we study the method for the dynamics modeling of a spatial flexible beam that has large-scope motion. We descretize its structure, derive its kinetic energy, static energy and generalized force using the finite element method, and then we establish its accurate dynamics equation with the Lagrange equation. The dynamics equation contains the deformation in all directions and the coupling items between deformational motion and large-scope motion.