JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2009, Vol. 39 ›› Issue (3): 94-98.

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Fast integration algorithms for dynamics of a flexible space robots system

  

  1. Department of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing  210016, China
  • Received:2009-01-06 Online:2009-06-16 Published:2009-06-16

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Abstract:

The dynamics model of flexible space robots was proposed, and the fast integration method to solve the complex differential-algebra equation was discussed. First, a dynamics model was set up based on the Lagrange method. Second, the differential-algebra equation of dynamics of the space flexible robots was gained according to the type of the joint (active or passive). Finally, the fast integration method to solve the complex differential-algebra equation was used. Simulations results showed that the dynamic modeling and fast integration techniques of the flexible space robot proposed was very useful.

Key words: space robots; flexible multibody; dynamic; differential-algebra equation; fast integration method

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