Flexible mechanisms, also referred to as "Elastic Multi Body Systems" (EMBS), consist of interconnected elastic and rigid bodies undergoing fast relative motions ("rigid body motions") with superimposed small elastic deviations. The proposed procedure for mathematical description is based on the 'Projection Equation' in terms of subsystems, along with nonholonomic variables for the general case. Applied to rigid multibody systems one obtains a recursive [order(n)-] solution scheme which is best suited for high accuracy and for real time applications. Considering elastic bodies leads to a straight-on procedure with the aid of spatial operators. The interconnected ordinary and partial differential equations along with the corresponding boundary conditions are determined with almost vanishing effort (when compared to the analytical approaches). These repesent the minimal form of the dynamical problem. As for the time being there is no procedure available for a direct solution, we proceed to a RITZ approach once more leading to an [order(n)-] solution scheme which is easy to implement.
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