归纳了柔性多体系统接触/碰撞动力学中的4个关键问题:接触区域的处理方法、接触作用的力学模型、柔性体的运动学描述和约束问题的数值方法.针对这4个问题,综述了柔性多体领域和有限元领域的现有方法,指出了这些方法的优点和不足.进一步提出了柔性多体系统接触/碰撞问题的发展趋势.%Several key issues in flexible multibody dynamics with contact/impact are presented, including the modeling of the contact region, the models for contact, the kinematics of the flexible body, the numerical methods of constraint. The shortcomings and merits of these methods are discussed. The development trends are pointed out.
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