Nonlinear Dynamic Model of a System of Flexible Bodies Using Augmented Bodies

The aim of this paper is to present kinematical and dynamical models of a system of flexible bodies in a compact form suitable for modeling, identification or control. Use of a Taylor series expansion of the body deformation in the kinematical model presents a way to refine the deformation description by increasing the expansion order. Including the definition of augmented bodies in the model permits us to write the equations of motion in a more compact form. It also gives a formulation of the dynamical model of the system that is linear in terms of the mass parameters. Then it a priori gathers the mass parameters in groups that have independent influences to the dynamical model. These properties are particularly appreciated when the purpose of modeling is to identify the multibody system.