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Modified dynamics modelling for maneuvering flexible space manipulators

โœ Scribed by P.TH.L.M. van Woerkom

Publisher
Elsevier Science
Year
1995
Tongue
English
Weight
554 KB
Volume
179
Category
Article
ISSN
0022-460X

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โœฆ Synopsis

The dynamics of flexible space manipulators carrying out relatively fast maneuvers is considered. In the past, computer simulations of the dynamics of flexible space manipulators executing large movements sometimes lacked accuracy, especially during fast maneuvers. This deficiency can be attributed to the neglect of second order terms in the deformation field of the flexible links in the manipulator multi-body system. Several modelling techniques can be used to improve flexible space manipulators dynamics algorithms. These are non-linear deformation field modelling, perturbed dynamics modelling, fictitious joints modelling and bracket joints modelling. These four modelling techniques will be explained in an application to a single-link manipulator, thereby facilitating understanding. Analytical and numerical results are presented, and an assessment of each of the four modelling techniques is given.

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