A new computation scheme is presented for the response analysis of flexible frame structures with time-varying shape and attitude. The governing equations for a continuum are derived in the form of integral equations for the member joint displacements alone. The integral equations can be solved easily by transforming them into ordinary differential equations and introducing additional mass corresponding to the inertial force due to the rigid-body axial translation and rotation of members. The scheme is applied to deploying, extending, and rotating space structures and a three-dimensionally moving link-connected structure.

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