Study on the Dynamics Modeling Method and Theory of Rigid-flexible Arm in Consideration of Environmental Characteristics

Based on Kane's equation, the dynamics model of rigid-flexible arm in inertial coordinate system is established. For general flexible multi-body system in consideration of environmental characteristics, environmental characteristics can be seen as external constraints to flexible multi-body system, and dynamical equations are set up for constrained general flexible multi-body system and also for the rigid-flexible arm.