Dynamics of systems with changing configuration and with flexible beam-like links

Dynamic analysis of spatial systems, in which reciprocal influence of base motion and vibrations of flexible links are taken into account, is the subject of the paper. The mathematical model of a beam-like link with bending and torsional flexibility is presented. The model has been obtained using the rigid finite element method. Formulae and computer programmes obtained have been indirectly verified by comparison of results of different methods. Experimental verification has also been carried out.