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 mode ling 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 degr ees of freedom, are examined in detail. The energy conserving time stepping scheme, which is proved to be well suited for integrating stiff differenti al equations, gouverning the motion of a single flexible link is appropriat ely modified and extended to nonlinear dynamics of multibody systems.