Dynamics of a Flexible Orbiting Platform with MRMS

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概要

• 論文の詳細を見る

• A relatively general formulation for studying dynamics of a flexible Mobile Remote Manipulator System (MRMS), supported by an orbiting flexible platform, is developed using the Lagrangian approach with generalized forces accounting for the environmental effects, damping and control. The flexible members are treated as continuum and their flexural deformations represented by a series of admissible functions. The highly nonlinear, nonautonomous and coupled equations of motion, being not amenable to any known closed-form solution, are solved numerically. The computational algorithm is so structured as to isolate the effects of various system parameters thus helping in assessment of their relative importance. Next, effectiveness of the general formulation is illustrated by studying complex interactions between vibrational and librational degrees of freedom in the presence of MRMS maneuver over a range of system parameters and initial conditions. The problem is purposely approached in an increasing order of complexity to gain physical appreciation of the system response. To that end the MRMS is replaced by a single arm. To start with a parametric study of a rigid platform supporting a rigid arm is carried out followed by a progressive introduction of the platform and arm flexibility. Finally, the general case of the Eulerian beam type platform with a flexible slewing and translating arm lays a foundation for studying more complex configurations which the formulation is designed to tackle. Results suggest that the MRMS maneuver can affect librational and vibrational response substantially and under critical combinations of parameters the system can become unstable. The information is fundamental to the design of a control strategy which, for a flexible system in the presence of generalized forces, has received virtually no attention. The thesis ends with a set of recommendations for future course of study which is likely to be innovative, useful and satisfying.

• 宇宙航空研究開発機構の論文

著者

• MODI Vinod

  The University of British Columbia

• Modi V

  Univ. British Columbia Bc Can

• Modi V.j.

  Department Of Mechanical Engineering University Of British Columbia

• V. J.

  Department Of Mechanical Engineering : The University Of British Columbia

• Modi V.

  Department Of Mechanical Engineering University Of British Columbia

• V. J.modi

  Dept.of Mech.eng. Univ.of British Columbia

• Modi V.

  Department Of Mechanical Engineering The University Of British Columbia

• Modi Vinod

  ブリティッシュ・コロンビア大学

• Modi J.

  University Of British Columbia

• Modi Vinod

  佐賀大学理工学部

• Vinod J.

  Professor Department Of Mechanical Engineering University Of British Columbia

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