中文摘要：

针对大范围运动规律为未知的刚-柔耦合系统,利用有限元方法对柔性梁进行离散,采用Lagrange方程建立空间柔性梁的刚-柔耦合动力学方程,研究在大范围运动为自由情况下,空间柔性梁的大范围运动和变形运动的相互耦合机理,比较零次模型、一次耦合模型、精确模型的差异,探讨各种模型的适用性。

英文摘要：

In this paper,the finite element method is used for the system discretization and the coupling dynamic equations of flexible beam are obtained by Lagrange＇s equations. The second order coupling terms among rigid large overall motion,arc length stretch,lateral flexible deformation kinematics and torsional deformation terms are concluded in the present exact coupling model to expand the theory of one-order coupling model. The dynamic response of the present model is compared with that of zero-order approximate model and one-order coupling model. Then changing of dynamic stiffening terms due to the new coupling terms is discussed according to different models. At the same time,the effect of initial static deformation in the tip is considered to study the vibrant deformation of flexible beam. In addition,when the overall motions are free,the rigid-flexible coupling dynamics theory is extend to spatial structure form planar structure. The difference among zero-order approximate model,one-order coupling model and the present exact model is revealed by the frequency spectrum analysis method and concludes that the speed of overall motion is a vital cause for the difference among different models. And the dynamic stiffening phenomenon still exists in rigid-flexible coupling system while the overall motion is free. But the effect of dynamic stiffening in the present exact model is not as severe as that of the one-order coupling model.