DYNAMICS OF SPACE FREE FLYING MANIPULATORS WITH FLEXIBLE APPENDAGES

Space Free-Flying Robots (SFFR) are space systems that include an actuated base equipped with one or more manipulators. Distinct from fixed-based manipulators, the spacecraft (base) of a space free-flying robot responds to dynamic reaction forces due to manipulator motions. In order to control such a system, it is essential to consider the dynamic coupling between the manipulators and the base. Explicit dynamics odeling of such systems is elaborated in this paper. The SFFR is divided in two parts, the manipulator(s), and the main body that consists of flexible appendages. The recursive Lagrangian approach is used to describe dynamics model of the flexible base system. For modeling the multi-manipulator system, a Recursive Newton-Euler approach is followed. The obtained dynamics model can be employed either numerically or symbolically. The interacting forces and torques acting between the manipulators and the flexible base are also modeled for simulation studies of controller design.

کلیدواژه ها:

Space Free-Flying Robot ، Flexible based Manipulator ، Recursive Newton-Euler approach