Dynamics of Articulated Structures. Part I. Theory

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Abstract
A finite element based method is developed for geometrically nonlinear dynamic analysis of spatial articulated structures; i.e., structures in which kinematic connections permit large relative displacement between components that undergo small elastic deformation. Vibration and static correction modes are used to account for linear elastic deformation of components. Kinematic constraints between components are used to define boundary conditions for vibration analysis and loads for static correction mode analysis. Constraint equations between flexible bodies are derived in a systematic way and a Lagrange multiplier formulation is used to generate the coupled large displacement-small deformation equations of motion. A lumped mass finite element structural analysis formulation is used to generate deformation modes. An intermediate-processor is used to calculate time-independent terms in the equations of motion and to generate input data for a large-scale dynamic analysis code that includes coupled effects of geometric nonlinearity and elastic deformation. Examples are presented and the effects of deformation mode selection on dynamic prediction are analyzed in Part II of the paper.

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