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.


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    Title :

    Integral dynamics modelling of chain-like space robot based on n-order dual number


    Contributors:
    Wu, Xiande (author) / Cui, Hongtao (author) / Chen, Weidong (author) / Xie, Yaen (author) / Zhao, Han (author) / Bai, Wenbin (author)

    Published in:

    Acta Astronautica ; 177 ; 552-560


    Publication date :

    2020-07-27


    Size :

    9 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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