Modified dynamics modelling for maneuvering flexible space manipulators

Abstract

The paper considers the dynamics of flexible space manipulators carrying out relatively fast maneuvers. In the past, computer simulations of the dynamics of flexible space manipulators executing large movements sometimes lacked in 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: nonlinear 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.