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3D DYNAMIC ANALYSIS OF A FLEXIBLE DEPLOYING ARM SUBJECTED TO BASE ANGULAR MOTIONS

机译:基角运动对柔性展开臂的3D动力学分析

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摘要

Problems related to the three-dimensional (3D) dynamics of the deploying flexible arms subjected to base angular motions are studied with simulated tip payloads and actual deployment trajectories. To facilitate the solution, an equivalent dynamical system is developed by introducing the inertial reaction forces on the arm, while the equations of motion are derived in the non-Newtonian reference frame attached to the arm. The dynamic behavior of the arm is investigated both by the finite element and assumed Modes methods for the purpose of verification. This study reveals that base angular motions lead to considerable couplings between the two lateral displacements and axial motions. Meanwhile, the induced loadings on the flexible arm due to the base angular motions are obtained, which are useful for the design of more efficient arms. Furthermore, one may use the resulting arm-tip position envelop to predict the antenna positioning accuracy, which paves the way for possible control systems to limit undesirable motions.
机译:使用模拟的尖端有效载荷和实际的部署轨迹研究了与进行基本角运动的部署柔性臂的三维(3D)动力学相关的问题。为了便于解决,通过在手臂上引入惯性反作用力来开发等效的动力学系统,同时在连接到手臂的非牛顿参考系中导出运动方程。为了进行验证,通过有限元和假定的Modes方法对手臂的动态行为进行了研究。这项研究表明,基本角运动导致两个横向位移和轴向运动之间的大量耦合。同时,获得了由于基本角运动而引起的在柔性臂上的感应载荷,这对于设计更有效的臂很有用。此外,可以使用所得到的臂尖位置包络来预测天线的定位精度,这为可能的控制系统限制不希望的运动铺平了道路。

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