中文摘要：

研究了多杆空间柔性机器人的动力学问题．运用Lagrange方法，结合齐次变换矩阵，推导得到了多杆空间柔性机器人动力学方程，在推导过程中采用了运动学递推策略以提高计算效率．建模时除考虑柔性构件的横向弯曲变形外，还计及了构件的扭转变形．基于上述理论研制了多杆空间柔性机器人动力学仿真软件，并对一空间柔性机器人进行了动力学仿真计算，验证了理论和软件的先进性能．

英文摘要：

The dynamics for multi-link spatial flexible manipulator arms consisting of n links and n rotary joints is investigated. Kinematics of both the rotary-joint motion and the link deformation were described by 4 × 4 homogenous transformation matrices, and the Lagrangian equations were used to derive the governing equations of motion of the system. In the modeling the recursive strategy for kinematics was adopted to improve the computational efficiency. Both the bending and torsional flexibility of the link were taken into account. Based on the presented method a general-purpose software package for dynamic simulation was developed. To validate the algorithm presented, the dynamic simulation of a spatial flexible manipulator arm was given as an example.