Dynamic Modelling of Flexible Space Robotic Manipulators During Payload Capture

Abstract

This paper outlines a procedure for modelling three-dimensional exible multi-body manipulators during manoeuvring and payload capture. The manipulators are capable of performing large rigidbody translations and rotations, as well as experiencing deformation as a result of their inherent exibilit y. This motion is highly non-linear, and as such, a non-linear co-rotational nite element method is used. The manipulators are modelled in three-dimensional space, and are comprised of multiple bodies which are joined by hinges. Simulation of payload capture is achieved through the addition of a lumped mass with a given velocity to the system. The motion of the manipulator prior to, during and after capture can be simulated. Strains within the manipulator can also be calculated, giving an indication of the structural state of the system. The procedure utilised is found to be useful for modelling a exible multi-body manipulator during payload capture.