Recursive multibody system dynamics: Extensions and verification of REALDYN simulator

Recursive multibody system dynamics: Extensions and verification of REALDYN simulator

van Woerkom, P.Th.L.M.

National Aerospace Laboratory NLR

1992-11-14

Earlier work on the formulation of an efficient algorithm for the description of the dynamics of a generic, structurally flexible space manipulator, has resulted in a linear recursive, "Order-N" algorithm. It forms the basis for the multi-body simulation program REALDYN at NLR. Various theoretical results obtained since then, have been collected and are described in the present report. They cover the subjects of extension of simulator applicability, of verification of algorithm and of simulator output, and of numerical integration: •the algorithm is extended to account for cases involving prescribed kinematics in some or all of the joints, and prescribed kinematics for some or all of the degrees of freedom of the spacecraft. •the algorithm is rederived using two different principles of mechanics, in order to support verification of the algorithm itself. •system mechanical integrals are derived, in order to support the verification of the simulator program REALDYN. •finally, the finite accuracy of the solution obtained from numerical integration with the Runge-Kutta-4 routine, is interpreted and analyzed in terms of numerically induced damping. This facilitates interpretation of the numerical results obtained.

http://resolver.tudelft.nl/uuid:a9490280-f3c9-4274-b5bd-5e7220f60a5d

Nationaal Lucht- en Ruimtevaartlaboratorium

Campus only

NLR CR 93007 L

Aerospace Engineering Reports

report

(c) 1992 National Aerospace Laboratory NLR