Formulation of Rigid Multibody Systems in Space

概要

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Equations of motion of rigid multibody systems such as space structures whose base are free are treated in this paper. We first derive the equations of motion which set the position f the center mass of one body as generalized coordinates. These equations are easily applied to the base-fixed systems as manipulators. Then, we derive the equations of motion which set the position of the center of mass of the system as generalized coordinates. These equations are preferable for space structures because the orbital motion and the attitude motion are separated. The method of derivation is based on Kane's equations of motion. The method is suited not only for the tree configuration system, but also for the loop configuration system with cutting loops, using Lagrange's multipliers as constrained forces. The method has high computation efficiency, and a computer simulation program is developed based on this method.
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