A new solution of the equilibrium equations of a system of bodies with elastic joints

Different ways of representing the elastic moments are proposed, which can be used for the finite-dimensional modelling of rod systems using a system of n axisymmetric solids, connected by elastic spherical joints. Using the example of a closed plane rod, possible states of equilibrium of the finite-dimensional model of the rod are analysed for different methods of specifying the elastic torques at the joints. The case when the rod axis has the form of a “figure of eight”, which is modelled by a system of six axisymmetric solids with a relative torsion angle that depends on the bending, is investigated in detail.