Finite element method in dynamics of flexible multibody systems: Modeling of holonomic constraints and energy conserving integration schemes

In this work we discuss an application of the finite element method to modeling of flexible multibody systems employing geometrically exact structural elements. Two different approaches to handle constraints, one based on the Lagrange multiplier procedure and another based on the use of release degrees of freedom, are examined in detail. The energy conserving time stepping scheme, which is proved to be well suited for integrating stiff differential equations, gouverning the motion of a single flexible link is appropriately modified and extended to nonlinear dynamics of multibody systems.