Abstract：In this paper,utilizing the generalized dynamic equation,the dynamic equation of the flexible manipulator system with a single chain is developed,and the recursive formulation for resolution process of these equations is analysed.Thus,it is enough to sloive the equation in lower order for every recursion and it isconvenient to calculate.Moreover,a scheme of solution for the dynamic equations of the tree-shaped flexible multi-body system is discussed.These equations are similar to the dynamic equation of the flexi-ble manipulator system with a single chain.Therefore,it is convenient to compile the computer programs.
 Shabana A. Viscoelastic analysis of multi-body systems using the finite element method. Journal of Sound and Vibration, 1985, 100(2).271-284
 Bakr E M. Shabana A A. Timoshenko beams and flexible multibody system dynamics. Journal of Sound and Vibration, 1987r 116(1):89-107
 Kim S S, Hung E J. A recursive formulation for flexible multi-body dynamics, Part I. Computer Methods in Applied Mechanics and Engineering, 19881(71):293-314
 Ju M S, Mansour J M. Comparison of methods for developing the dynamics of rigid-body systems. The International Iournal of Robotics Research, 19891 8(6)