Chansha Railway Univ;
Coll Civil & Architecture Engn;
Changsha 410075;
Peoples R China;
Shanghai Jiao Tong Univ;
Dept Engn Mech;
Shanghai 200030;
Peoples R China;
coupling; displacement; coupling; dynamical; modeling; theory; large; overall; motion; single; direction; recursive; formulation; flexible; muhibody; system;