Mixed analysis method for multi rigid body-finite element during contact collision of mechanical arms of flexible robot

The invention discloses a mixed analysis method for multi rigid body-finite element during contact collision of mechanical arms of a flexible robot. The method comprises the steps that an equivalent unit is used for simulating a hinge bolt and a spring in a finite element model; and in the calculation process, a rigid body algorithm is adopted for the mechanical arms when the mechanical arms are not in contact, a deformable body algorithm is adopted for the multi rigid body/finite element mixed analysis during contact. The problems that for the robot mechanical arm contact collision problem, the calculation efficiency is low, and the calculation precision is low are solved. When the robot mechanical arm contact collision is analyzed, only the K file needs to be changed, then the conversionof the rigid body and the deformable body can be realized, the repeated work is reduced, the technical time is shortened, and the working efficiency is improved. 本发明公开了种柔性机器人机械臂接触碰撞的多刚体-有限元混合分析方法，利用等效单元模拟有限元模型中的铰接螺栓和弹簧；在计算过程