摘要：The paper presents motion analysis of dynamic models of systems with flexible mechanical components and subjected to position and kinematic programmed constraints, which can be imposed as control goals, work or service task demands. The constrained dynamics is derived using an automated computational procedure dedicated to constrained systems. The procedure was successfully implemented to rigid models. A class of systems composed of flexible parts and subjected to programmed motions is considered in the paper. The novelty of the approach is in possibility of analyzing system motions, including vibration, in the presence of programmed constraints. The constrained motion is examined using a crane model equipped with a flexible link. The example delivers a realistic work situation, in which the crane carries loads and moves according to programmed constraints put on its trajectory and velocity.
