Sufficient stability conditions of equilibrium position of the closed multybody system

The closed system consisting of $n$ Lagrange gyroscopes connected by elastic cylindrical joints is considered. This system can be regarded as a finite dimensional model of the elastic rod which axis is located in one plane during all time of motion. It was supposed, that the elastic moment in joins is essentially nonlinear. Sufficient conditions of stability for a "circular" and "eight form" configurations are obtained. The influences of joint presence in a point of rod axis intersection on stability area is investigated.