Quasi-recursive dynamics equations for spacecraft-based flexible robotic manipulators

Abstract

The report contains the development of the dynamics equations of a spacecraftmanipulator system with chain topology. The spacecraft may be flexible. The attached manipulator consists of an arbitrary number of links, connected by single degree-of-freedom rotational joints. None, any, or all of the links may be flexible. A rigid or flexible payload can be accommodated, as part of the last link. d'Alembert's Principle is used as a starting point for the derivation of the dynamics equations. The equations obtained hold for arbitrary geometry and arbitrary mass properties. By expressing the virtual displacement of an elementary mass in recursive form, algebraic labor spent In the development Is reduced, and the algebraic complexity of the resulting equations Is reduced as well.