Dynamic Modeling and Analysis of Multi-Flexible-Link Space Manipulator under Time-Varying Dynamic Boundary Conditions
Shihao Ni, Weidong Chen, Ti Chen
Abstract: This paper presents a dynamic modeling method for the multi-flexible-link space manipulators under time-varying dynamic boundary conditions. This method is Based on 3D recursive kinematics and is applicable to the space manipulators with an arbitrary number of flexible links. The elastic deflection of the flexible links is described by using the Assumed Mode Method (AMM). The general expressions of the dynamic boundary conditions are derived by combining the Newton-Euler equation with 3D recursive kinematics. Based on 3D recursive kinematics, the dynamic model suitable for space manipulators with an arbitrary number of flexible links is established. For the multi-flexible-link manipulator systems, the movement of the links will alter the mass distribution of the system, resulting in the timevarying modes of the links. The difference between the results of the time-varying modes and time-invariant modes are investigated. Numerical simulations are performed to verify the adaptability of the proposed dynamic modeling method to different manipulators. Simulation results shows that the results of time-varying modes are in good agreement with those of time-invariant modes, and the simulation calculation time of time-invariant modes is less than that of time-varying modes. For the above reasons, the time-invariant modes (c) 2024 COSPAR. Published by Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.
文章链接：https://www.sciencedirect.com/science/article/pii/S0273117724007865
