Analytical mechanics solution for mechanism motion and elastic deformation hybrid problem of beam system

Based on the dynamics of flexible multi-body systems and finite element method, a beam system dynamics model is built for solving motion–deformation mixed problem and tracing the whole process of mechanism motion. Kinetic control equation and constraint equation in which, mechanism motion and elastic deformation is described using hybrid coordinates, and the spatial position matrix of the element is described using Euler quaternion are derived. Numerical examples show that the method can trace and solve the track and internal force of the system.