中文摘要：

对轮式悬架2连杆柔性移动机械手（平面）进行了系统的动力学研究。该轮式移动机械手由带有弹性．阻尼悬架系统的移动载体和柔性机械手所组成，并假定移动载体以恒速通过不规则路面。采用经典瑞利．里兹（Rayleigh．Ritz）法和浮动坐标法描述机械手弹性变形与参考运动间的动力学耦合问题，综合利用拉格朗日原理和牛顿．欧拉方程并在笛卡尔坐标系下，以矩阵、矢量简洁的形式构建了该移动柔性机械手系统的完整动力学模型。最后采用数值的方法给出了该动力学模型正解的仿真结果。通过与刚体模型、刚柔混合模型仿真结果的比较，证实了该柔体系统存在动力学耦合现象。

英文摘要：

This paper concentrates on the study of the kinematics and dynamics modeling of a wheeled suspended mobile 2-1ink flexible planar manipulator（WSM2LFM）, which consists of a mobile base with a 2-DOF linear elastic-damping suspension system and a flexible planar manipulator, and the mobile base is considered to travel with a constant linear speed over an irregular ground-surface. The complete dynamic model of the WSM2LFM which couples the reference motion with the elastic deformation of the manipulator is derived using the Rayleigh-Ritz method and the floating frame of reference formulation, and it is compactly described with the matrices and vectors measured with respect to a gobal Cartesian frame of reference. At last, the numeric simulations are carried out to the forward dynamic model of a WSM2LFM and a mobile rigid one and a mobile rigid-flexible one, respectly. These simulation results illustrate these effects.