Dynamics of a flexible multi-link cosmic robot manipulator

The problem of dynamic and kinematic control of the spatial movements of a flexible multi-link manipulator, mounted on a platform freely moving in cosmic space, is defined. Allowance for distributed properties of elasticity and inertia of the manipulator links is made, based upon the design model of the Euler-Bernoulli beam on the assumption that each element is in compound motion. A technique for the numerical construction of solutions for an essentially non-linear hybrid-type system of constituent equations is proposed. Examples of computer simulation of the dynamics of a two-link cosmic robot, manipulating a useful body, are considered. Comparisons are made between the results of calculations and data on the dynamic behaviour of a rigid cosmic manipulator with equivalent geometrical and inertial parameters. (C) 2001 Academic Press.