中文摘要：

多柔体动力学对空间探索和宇航事业的发展起到了重要作用。单柔体动力学是多柔体动力学的基础,利用变积法推得单柔体动力学的高斯最小拘束原理,通过对单柔体动力学的高斯最小量求驻值得到微分形式的控制方程。接着在上述工作的基础上分别采用两种运动学描述方法———向量链法和向量对法建立链式多柔体系统的高斯最小拘束原理。

英文摘要：

Multi-flexible body dynamics plays an important role in the development of space exploration and astronautics.Based on the consideration that the dynamics of single flexible body is the basis of dynamics of multi-flexible body,this paper firstly derives the Gauss＇ principle of least constraint of single flexible body dynamics by using variational integral method,then obtains the governing equations in differential form by evaluating the stationary value of the Gauss＇ minimized quantity of single flexible body dynamics.On the basis of the above work the Gauss＇ principle of least constraint of chained multi-flexible body is established in two different describing methods of kinematics,the vector chain method and dual vector method.