This paper presents an automated procedure useful in the study of large constrained flexible structures, undergoing large specified motions. The structure is looked upon as a “partially open tree” system, containing closed loops in some of the branches. The governing equations are developed using Kane’s equations as formulated by Huston et al. The accommodation of the constraint equations is based on the use of orthogonal complement arrays. The flexibility and oscillations of the bodies is modelled using finite segment modelling, structure analysis, and scaling techniques. The procedures developed are expected to be useful in applications including robotics, space structures, and biosystems.

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