A new formulation of geometrically exact planar Euler-Bernoulli beam in multi-body dynamics is proposed. For many applications, the use of the Euler-Bernoulli model is sufficient and has the advantage of being a nodal displacement-only formulation avoiding the integration of rotational degrees of freedom. In this paper, an energy momentum method is proposed for the nonlinear in-plane dynamics of flexible multi-body systems, including the effects of revolute joints with or without torsional springs. Large rotational angles of the joints are accurately calculated. Several numerical examples demonstrate the accuracy and the capabilities of the new formulation.

中文翻译：

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多体动力学的几何精确平面Euler-Bernoulli梁和时间积分过程

提出了在多体动力学中几何精确的平面Euler-Bernoulli梁的新公式。对于许多应用而言，使用Euler-Bernoulli模型就足够了，并且具有仅采用节点位移公式的优点，从而避免了旋转自由度的积分。本文提出了一种能量动量方法来解决柔性多体系统的非线性面内动力学问题，包括带有或不带有扭转弹簧的旋转关节的影响。准确地计算了关节的大旋转角度。几个数值示例证明了新配方的准确性和功能。