Order-N formulation and dynamics of multi-unit flexible space manipulators

DOI10.1023/A:1008314211138MaRDI QIDQ1291863zbMATH OpenOpenAlexFDO

Authors M. Caron, V. J. Modi, A. K. Misra

Publication date 25 May 2000

Published in Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/a:1008314211138

zbMATH Keywords

deployable flexible linksLagrangian approachlibrationalorbiting manipulatororder-\(N\) algorithmparametric analysisslewingvariable geometry manipulator dynamicsvelocity transformations

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Robot dynamics and control of rigid bodies (70E60) Numerical approximation of solutions of dynamical problems in solid mechanics (74H15)

Review text

The study uses an order-\(N\) algorithm, based on the Lagrangian approach and velocity transformations, to simulate the planar dynamics of a novel orbiting manipulator with arbitrary number of slewing and deployable flexible links. The relatively general formulation accounts for interactions between orbital, librational, slewing, deployment, and vibrational degrees of freedom, and thus is applicable to a large class of manipulator systems of contemporary interest. A parametric analysis of the system dynamics is carried out to investigate the effects of initial disturbances, variation of system parameters and maneuver profiles.

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Cited in

(2)

• Order N Formulation for Flexible Multibody Systems in Tree Topology: Lagrangian Approach
• Hierarchical Fuzzy Logic Control of a Manipulator With Slewing and Deployable Links

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