Decoupled joint-elastic coordinate formulation for the analysis of closed-chain flexible multibody systems

A decoupled joint-elastic coordinate formulation for the dynamic analysis of closed-chain flexible mechanical systems was developed. An alternative approach to the use of the augmented formulation in the analysis of such systems is presented. In this formulation, the configuration of the deformable body is identified using a coupled set of absolute reference and elastic coordinates. The large relative displacements between two deformable bodies are described using a set of intermediate body-fixed joint coordinate systems. The kinematic relationships expressed in terms of the absolute, elastic, and joint variables are combined with the generalized Newton-Euler equations and the joint reaction force relationships in order to obtain a system of loosely coupled equations.