Equivalent flexibility modelling: A novel approach towards recursive simulation of flexible spacecraft-manipulator dynamics

Report (1989)

Authors

P.T.L.M. van Woerkom

Simulation Dynamics Modelling Robotics Flexibility Vibrations Structures Manipulators Multi-body systems

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Published Date

22-08-1989

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NLR Technical Publication TP 89293 L

Abstract

For the simulation of rigid spacecraft manipulator dynamics there exists efficient recursive software. Extension of this software for the simulation of flexible spacecraft-manipulator dynamics would have important advantages. In this paper the method of Equivalent Flexibility Modelling (EFM) is outlined. Each flexible body is re-modelled as a concatenation of rigid bodies, acted upon by fictitious loads In addition to the real loads. To calculate the fictitious loads, some modifications of the software are required. A number of test cases has been analyzed. The errors detected in these test cases are within the realm of computational inaccuracy.

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