Research on generalized efficient recursive dynamics of flexible macro-micro space robots system

Abstract

The generalized efficient recursive dynamics model of a kind of flexible macro-micro space robots system was built. The method of describing the under-actuated rigid-flexible multibody system based on Spatial Operator Algebra (SOA) theory was proposed. The generalized flexible multibody was described in according to the type of the joint (active or passive), and the rigid body or the flexible body; then the generalized articulated inertia-matrix, the residual forces and the generalized acceleration and torque were computed through twice tip-to-base recursive and once base-to-tip recursive; at last the O(n) generalized dynamic was gained. Simulations results show that the dynamic modeling and fast integration techniques proposed in this paper are very useful.