Modeling Flexible Multi-Body Systems Within the Udwadia–Kalaba Framework, a Lumped Parameter Approach

Abstract It is common practice within multi-body dynamic (MBD) modeling to assume that individual bodies are rigid however this can be an oversimplification especially when slender present resulting in inaccurate estimations of the system's natural frequencies and overall behavior. To address shortfall, we extend Udwadia–Kalaba (U–K) MBD formulation paper model flexible multibody systems for purposes exploring system frequencies. flexibility, a lumped parameter approach proposed, which work idealizes beam as series discrete elements connected by torsional springs. In U–K formulation, mechanical also discretized into adapted. This viewed benefit incorporating systems. A crank-slider mechanism introduced modeled capture dynamics flexibility through linkage compliance. The validated against alternatively formulated mode shapes numerically predicted. Results study show effectiveness potential extending application using dynamically