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Rotating hub-flexible rod system is a typical rigid-flexible coupling dynamic mechanism, which has a wide range of industrial applications. In this paper, a comprehensive nonlinear dynamical model of a rotating hub-flexible rod-concentrated mass system considering rigid-flexible coupling effect is established to study its dynamic properties. By employing the Hamilton principle and classical beam theory, a set of differential equations of motion are derived including the couplings of the elastic deformation of the rod and the rigid rotation of the hub. The additional centrifugal force, tangential force and Coriolis force due to the rigid-flexible coupling effect are elaborated. The derived governing partial differential equations are solved by the Galerkin method. The validity of the present model is verified by a comparative study. The tip motion trajectories of the rod for the prescribed rotation, the dynamic responses of the hub and the rod for an external torque acting on the hub and the dimensionless natural frequencies of the system for the steady-state rotation are graphically presented. The influences of parameters such as rotational speed ratio, concentrated mass ratio, concentrated mass location ratio and initial eccentricity ratio on the dynamics are discussed in detail.

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