Abstract
As robotic manipulators gain more importance in space operations, it is becoming imperative to understand their distinctive dynamics and control characteristics. With the increasing complexity of space robots, efficient algorithms are now required for their simulation. The present study uses an order-N algorithm, based on the Lagrangian approach and velocity transformations, to simulate the planar dynamics of a novel orbiting manipulator with arbitrary number of slewing and deployable flexible links. The relatively general formulation accounts for interactions between orbital, librational, slewing, deployment, and vibrational degrees of freedom, and thus is applicable to a large class of manipulator systems of contemporary interest. A parametric analysis of the system dynamics is carried out to investigate the effects of initial disturbances, variation of system parameters and maneuver profiles. The study suggests significant coupling between the rigid body motion and structural vibrations. As a result, the system's flexibility can significantly affect the manipulator's performance.
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