基于Lagrange 乘子法推导出任意连接方式的多柔体系统动力学方程,并进行了计算机数值模拟,得到一些有用结果,同时,对数值模拟的稳定性进行了探讨. Based on the Lagrange multiplier method, the dynamic equations of flexible multi-body system with arbitrary connection are deduced. Computer numerical simulation is carried out and some useful results are obtained. At the same time, the stability of numerical simulation is discussed.