中文摘要：

可变体系的展开过程既包含了机构运动又包含了弹性变形。该文采用了以自然坐标描述的多体系统动力学的有限元方法,根据最小应变能原理与拉格朗日乘子法给出了多体系统运动学基本方程的建立方法,并基于Hamilton原理给出了考虑机构运动与弹性变形的动力学方程。通过对简化的攀达穹顶模型展开过程的数值模拟,验证了理论方法的可行性,表明了结构构形与受力状况在体系展开过程中产生较大的变化。算例结果表明：攀达穹顶体系的展开程度与体系设计相关,＂过度＂的展开会使结构处于不利的受力状态。

英文摘要：

The movement of deployable systems consists of mechanism motions and elastic deformations. The multibody dynamics is implemented by the finite element method using the natural coordinate. Based on the minimum strain energy method with the rigid body hypothesis and the Lagrangian multiplier method, the fundamental equations of multi-body kinematics were derived. Then the dynamic equations considering the mechanism motions and elastic deformations were given based on the Hamilton principle. In order to obtain the moving principle of Pantadome systems, the deployment simulation of a simplified Pantadome structure was carried out. The results show that the proposed method is feasible and efficient. Moreover, the changing of configurations and mechanical states of the Pantadome during the movement is significant. Furthermore, the numerical example also shows that the deployment degree relates to the design of the system. An excessive deployment will have negative effect on the behavior of Pantadome system.