Abstract In this study, n-order dual numbers were introduced to derive novel dynamics equations of chain-like multi-body deployed on spacecraft. A multi-body system dynamics equation was proposed in the Newton-Euler form, after dual motor, dual mass and dual momentum were provided by establishing operator σ and operation properties. Translation and rotation motion around base are described in the presented integral models based on n-order dual number. Finally, a chain-like space robot manipulator was designed as a verifying example of the n-order dual number scheme applied to multi-body system dynamics. The simulation results showed that the dynamics of each joint was simplified and the coupling effect between the links was reduced.
Highlights The n-order dual number is introduced to model space manipulator. A novel dynamics model is derived to describe chain-like space robot. The translation and rotation motion are integrated in the n-order dual number models.
Integral dynamics modelling of chain-like space robot based on n-order dual number
Acta Astronautica ; 177 ; 552-560
2020-07-27
9 pages
Article (Journal)
Electronic Resource
English
Coupling dynamics modelling and optimal coordinated control of tethered space robot
Online Contents | 2015
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