中文摘要：

柔性机械臂是一个高度非线性、强耦合动力学系统。笔者基于假设模态法和Lagrange方程建立了柔性机械臂的动力学模型。数值仿真结果表明，截取系统的前三阶模态能保证系统的精度。分析了柔性机械臂的物理参数、结构参数以及外加驱动力矩对其动力学特性的影响，同时提出几种抑制柔性臂振动的方法。为研究柔性机械臂的振动稳定性、结构设计与结构参数优化提供了依据。

英文摘要：

A flexible arm is a highly nonlinear and strongly-coupled dynamics system. Based on the assumption mode method and the Lagrange equation, the dynamic model of the flexible arm is established. Numerical simulation illustrates that the system has enough precision with the first three-orders mode. The impact of different structures on the dynamics performance of the flexible arm such as physical parameters and the driving moment are discussed. In addition, methods for restraining the vibration are suggested.