关键词: 漂浮基空间多体系统, 动力学, 李群李代数, 递推算法, 欠驱动

Abstract:

Lie group and Lie algebra are used to research the dynamics of under-actuated free flying multibody systems. The under-actuated joints are decomposed into component active and passive joints. The Newton-Euler inverse dynamics is promoted to contain the active and passive joints. At the same time, the dynamical modeling method of space systems with active and passive joints is built. This method can be used to model chain and tree topology space systems. It can also be used to model beam-like flexible multibody systems which are established by finite segment method with high efficiency. Results show that the dynamics described with Lie group and Lie algebra are helpful in highly efficient dynamics modeling. The dynamical expressions are concise and clear.

Key words: under-actuated free flying multibody systems, dynamics, Lie groups and Lie algebras, recursive algorithm, under-actuated