Dynamics of plane motion of a body with a system of flexible inextensible rods connected in series by elastoviscous joints at large angles of rotation

The principle of virtual displacements is used to obtain the equations of plane motion, in generalized coordinates, of a free rigid body with a system of flexible inextensible rods connected in series by elastoviscous joints at large angles of rotation. Each rod rotates as a line connecting its ends and bends according to two given shapes. The imposition of the kinematic conditions of inextensibility of the rods ensures that the mathematical model of the system does not contain oscillations caused by longitudinal vibrations of the rods. This fact improves the computational stability of the system.