摘 要：针对工程中常见的柔性多体系统碰撞过程，详细的分析了柔性多体系统的接触碰撞条件，基于非线性等效弹簧阻尼模型建立了柔性体的碰撞模型，并基于库仑摩擦模型考虑两体碰撞时的切向摩擦作用。在此基础上把柔性体碰撞模型综合到柔性多体系统动力学方程中，建立了含接触碰撞的柔性多体系统动力学模型，此模型适用于一般含碰撞的多体系统。仿真算例以柔性梁在重力场中的接触碰撞过程为对象进行动力学仿真，研究柔性梁碰撞前、碰撞过程及碰撞后的动力学特性和动态响应，以及碰撞过程碰撞力的变化规律，并与刚性梁在重力场中的接触碰撞过程进行详细的比较和分析，结果表明基于非线性等效弹簧阻尼模型建立的柔性多体系统碰撞动力学模型可以有效的分析接触碰撞过程的动力学性能，验证了模型的有效性和正确性。

Abstract： The contact phenomenon in flexible multi-body system is common in engineering, which always make great effects to system design and analysis. The contact condition is analyzed and then the contact model of flexible bodies is established using nonlinear spring model as well as the tangential friction is considered by Coulomb friction model. Then the contact model was associated with the equation of flexible multi-body system. So the flexible multi-body system dynamics model is established including contact model, which is applied to common contact multi-body system. The dynamic simulation of contact process of a flexible beam in gravitational field is made to proof the validity and correctness of the model. The dynamic response and the rule of the contact force are discussed in detail, which includes the angular displacement and angular velocity, the time course of contact force and the rule of terminal displacement and velocity. Finally the differences between flexible and rigid beam are compared and discussed in detail. The results show that the nonlinear spring model is availability for contact dynamics of flexible multi-body system.