本文主要论述了具有有限弹性变形部件的多体系统非线性动力学控制方程。方程中包含几何非线性和惯性非线性两方面的因素。几何非线性是考虑了应变-位移关系式中的二次项,在采用计及剪切和截面回转惯性的Timoshenko梁单元的情况下得到一个新的几何非线性刚度阵,而惯性非线性则是考虑了部件大幅度的转动。文中采用欧拉参数来描述部件参考系的转动。三个数值例子是用来考察上述因素在系统瞬态响应中的影响。 This paper mainly discusses the nonlinear dynamic governing equations of multibody system with finite elastic deformation components. The equation contains both geometric and inertial nonlinearities. Geometrical nonlinearity takes into account the quadratic term in the strain-displacement relation, a new geometrical nonlinear stiffness matrix is ​​obtained using Timoshenko beam elements that take into account shear and moment of inertia of the section, while the inertial nonlinearity is Considered a substantial part of the rotation. In this paper, Euler parameters to describe the rotation of the reference frame. Three numerical examples are used to examine the impact of these factors in the system transient response.