Modeling of Flexible Multi-Body Systems: A Tutorial Overview

This review paper explores two primary methodologies for modeling flexible multi-body systems, namely, the Assumed Mode Method and the Lumped Pa-rameter Method. Flexible multi-body systems models, which involve small elastic deformations, are critical for simulating and optimizing the behavior of structures in various engineering applications, such as robotic arms, space structures, and rotating machinery. The Assumed Mode Method decomposes a system’s motion into rigid-body movements and elastic deformations using predefined mode shapes, providing an efficient alternative to the Finite Element Method. The Lumped Parameter Method simplifies flexible systems by modeling them as rigid segments connected by springs and dampers, which capture elasticity and damp-ing effects. This review focuses on the basic use, implementation of these two approaches. Additionally, a carne with flexible pendulum load is modeled using both approaches to demonstrate their effectiveness in capturing system dynamics.