中文摘要：

汽车起重机在起吊工作过程中,激励频率应远离固有频率,以免因产生共振而发生危险。因此在汽车起重机设计与应用过程中对其进行振动模态分析是十分必要和重要的工作。将汽车起重机处理为由多个刚体、集中质量、弹性梁、扭簧以及弹簧按一定方式铰接而成的刚柔耦合多体系统,建立了汽车起重机的动力学模型,用多体系统传递矩阵法计算了其振动固有频率及对应的主振型,解决了同时含有多个刚体和弹性体的复杂多体系统的振动模态计算问题。

英文摘要：

When a truck crane works,driving frequency should be quite different from its natural frequency to avoid resonance.Therefore it is necessary and pivotal to analyze vibration-mode for the design and application of truck crane.A truck crane is taken as a coupled rigid-flexible multibody system which consists of multiple rigid bodies,lumped mass,elastic beams,rotary springs and springs in a certain way.And a dynamic vibration model is established.By using the multibody system transfer marrix method（MSTMM）,natural frequency and principal mode of vibration of truck crane is computed as well.Thus the problem containing simultaneously vibration-mode computation for a complex system making up of many rigid bodies and flexible bodies is solved in it.