收稿日期: 2009-03-19
修回日期: 2009-04-20
网络出版日期: 2009-09-15
基金资助
国家自然科学基金项目(50375071)和民用航天"十一五"预研项目资助
Recursive dynamics of under-actuated free flying multibody systems
Received date: 2009-03-19
Revised date: 2009-04-20
Online published: 2009-09-15
邵兵 , 吴洪涛 , 程世利 . 欠驱动漂浮基空间多体系统的递推动力学[J]. 中国科学院大学学报, 2009 , 26(5) : 609 -614 . DOI: 10.7523/j.issn.2095-6134.2009.5.004
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.
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