TABLE OF CONTENTS In this section, we discuss some considerations that should be taken into account in developing a general computational scheme for the dynamic analysis of flexible multibody systems using the floating frame of reference formulation. The organization of the multibody computer programs as well as the functions of their modules will be explained.
It is clear from the development presented in this chapter that a set of inertia shape integrals is required for each deformable body to generate the inertia coupling between the reference motion and the elastic deformation of the body. These integrals can be evaluated only once in advance for the dynamic analysis using a structural analysis program. The inertia shape integrals can also be generated using the finite-element method as described in the following chapter. It is more computationally efficient to evaluate these integrals once in advance for the dynamic analysis and store them for use whenever they are needed. This can be done in a preprocessor structural analysis program called PREDAMS. This program has the capability of generating the inertia shape integrals of the deformable bodies using consistent or lumped masses. Furthermore, the preprocess or PREDAMS can be linked with any existing finite-element program to generate the shape integrals for some special elements that are not available in the library of the program (Shabana 1985).
Having determined the intertia shape integrals of each deformable body in the preprocessor PREDAMS, one can input these matrices to the dynamic analysis...
