Model for the impact system of flexible mechanical arm and numerical simulation of precise integration

The dynamic properties are studied for a one-link flexible mechanical arm with contact-impact. For establishing the dynamic model of the system, based on the finite element conception, some rigid elements and torque springs are used to simulate the flexible mechanical arm, subsequently, a simple nonlinear dynamic equation is obtained. According to the geometry relation of the system, the constraint conditions are established as the impact occurs, then by introducing the dual vector of the original variable into the dynamic equation, the system is transformed into Hamilton system, where the precise integration method is suitable for solving the dynamic equation, and finally used to complete the dynamic properties of the impact system of flexible mechanical film.