摘要: In this paper, nonlinear modeling for flexible multibody system with large deformation is investigated. Absolute nodal coordinates are employed to describe the displacement, and variational motion equations of a flexible body are derived on the basis of geometric nonlinear theory, in which both the shear strain and the transverse normal strain are taken into account. By separating the inner and the boundary nodal coordinates, the motion equations of a flexible multibody system are assembled. The advantage of such formulation is that the constraint equations and the forward recursive equations become linear because the absolute nodal coordinates are used. A spatial double pendulum connected to the ground with a spherical joint is simulated to investigate the dynamic performance of flexible beams with large deformation. Finally, the resultant constant total energy validates the present formulation.