中文摘要：

针对考虑关节柔性的机器人系统，采用假设模态法对柔性梁变形场进行离散，运用拉格朗日方程，在计入柔性梁横向弯曲变形引起的轴向缩短的情况下，推导得到柔性机器人动力学方程，并编制动力学仿真软件。通过仿真算例对系统的动力特性进行研究。研究中考虑了两种情况：重力作用下系统的动力特性研究和恒定角速度转动下系统的动力特性研究。结果表明：重力作用下系统的运动符合实际情况，说明程序的正确性；恒定角速度下，随着角速度的增加，柔性关节的作用将不可忽略。

英文摘要：

The dynamics of flexible robot system considering flexible joint is investigated. The coupling term of the deformation caused by transverse deformation is included in the expression of longitudinal deformation. The gover- ning equations of motion for this system are established by using assumed mode method and Lagrange＇s equations. Then a software package for the dynamic simulation of the flexible robot is developed. Two cases are considered in the simulations. One is the dynamics study under gravity, and the other is that under constant angular velocity rotation. Simulation demonstrates the correctness of the program under gravity movement tally with the actual situation, and as the increase of the velocity, the flexible joint in the system cannot be ignored.