Dynamics of flexible bodies in tree topology - A computer oriented approachAn approach suited for automatic generation of the equations of motion for large mechanical systems (i.e., large space structures, mechanisms, robots, etc.) is presented. The system topology is restricted to a tree configuration. The tree is defined as an arbitrary set of rigid and flexible bodies connected by hinges characterizing relative translations and rotations of two adjoining bodies. The equations of motion are derived via Kane's method. The resulting equation set is of minimum dimension. Dynamical equations are imbedded in a computer program called TREETOPS. Extensive control simulation capability is built in the TREETOPS program. The simulation is driven by an interactive set-up program resulting in an easy to use analysis tool.
Document ID
19840048932
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Singh, R. P. (Honeywell, Inc. Clearwater, FL, United States)
Vandervoort, R. J. (Honeywell, Inc. Clearwater, FL, United States)
Likins, P. W. (Lehigh University Bethlehem, PA, United States)