Dynamic Analysis Of Space Flexible Manipulator

With the technical development of aerospace and robot, the space flexible manipulator has attracted more attention. It has potential advantages in operating speed, working efficiency and energy consumption. However, the particularity of its structure causes the elastic deflection and vibration, which has brought a lot of problems in space flexible manipulator positioning and tracking performance.In this thesis, two-link flexible manipulator is dealt with, a more complex system about dynamic model which direction cosine of the shaft changes is established in the first time. Then its simulation is completed, to get its dynamic response. This achievement provides a theoretical foundation for the further research on dynamic optimization and motion control of flexible manipulator. Firstly, this paper is based on dynamics of flexible multi-body systems, offering the coordinate transformation matrix of points around moving axis, and using this matrix to deduce the mass matrix. Secondly, dynamics control equation of the two-link flexible manipulator is established by using this mass matrix. Meanwhile, a new method called correction algorithm of iterative constraint violation is adopted in this thesis, a computer program written in MATLAB, and its dynamics simulation are obtained. Finally, the simulation results are analyzed, which showed the theory and method were correct.