Dynamics of a rope modeled as a multi-body system with elastic joints

摘要

A discrete model of a rope with spiral springs in joints is considered, the aim being to include transverse elasticity of the rope. Elastic characteristic of the springs is derived on the basis of simple geometrical formulas and the classical curvature-bending moment relationship for beams. Lagrange’s equations of motion are presented and their complexity is discussed from the computational point of view. Numerical experiments are performed for a system with both scleronomic and rheonomic constraints. The influence of the elasticity on behaviour of the model is analyzed. Results validity is examined in terms of basic energy principles.