Abstract: In this paper, to counter a flexible beam undergoing large overall motion impacting a fixed slope surface under the effects of grativity, the normal contact model is established based on the Hertz theory and non-linear damping term, the tangential contact model is developed by adopting linear tangential contact stiffness to consider the effects of friction force during impact process, and the consistent linear dynamic model including impact is derived by using mode assumption method and Lagrangin equation. Finally, some numerical simulations are executed in the case of the different stiffness of the flexible beam, the effects of the structural flexibility on the system impact dynamics are investigated.

Key words: multi-body dynamics, oblique impact, structural flexibility

摘要： 针对在重力场下作大范围回转运动的柔性梁与一固定斜面发生斜碰撞的情况，根据Hertz接触理论和非线性阻尼项建立法向碰撞接触模型。引入线性切线接触刚度建立切向碰撞接触模型，以考虑接触过程中由于切向相对速度的换向作用引起的摩擦力的变化。利用假设模态法和Lagrangian方程建立系统含碰撞过程的一致线性化的动力学模型。最后根据不同刚度下的柔性梁的动力学仿真计算，探讨了结构柔性对系统碰撞过程动力学行为的影响。

关键词: 结构动力学, 斜碰撞, 结构柔性