Effect of beam initial curvature on the dynamics of deformable multibody systems

摘要: Abstract In this paper the effect of member initial curvature on dynamic response mechanisms consisting interconnected rigid and deformable links is investigated. Euler-Bernoulli theory for straight beams it assumed that there no coupling between longitudinal transverse displacements. This not, however, case when initially curved are considered. Mode shapes obtained contain both axial bending effects. Furthermore, displacements do exist in undergo large angular rotational study a Lagrangian formulation developed translational The configuration beam identified using coupled set reference elastic coordinates. kinetic strain energies mass stiffness matrices identified. Even though matrix highly nonlinear function system coordinates because displacements, was shown can be written terms invariants depend displacement field as well beam. These also appear represent inertia motion deformation