A unified matrix approach applied to dynamic formulation of complex space structures with nonlinear hinge forces and torques

Abstract This paper describes an approach to a dynamical modeling of nonlinear hinge forces and torques utilizing the unified matrix method developed previously for computer simulation of complex space structures with variable configuration. In this approach, emphasis is placed on precise expression of relative displacements and velocities, and internal forces and torques at the hinges which connect the two adjacent bodies. Nonlinearities of the relations are extensively investigated to model existing hardware characteristics, such as limiter or back-lash Based on this approach, a computer code has been developed and thereby the existing program has been modified. With this modification, more realistic simulation models have been implemented in the computer code without cumbersome calculation and manipulation of mathematical relations. Illustrative examples are shown with animations for latch-up and limiter mechanisms of a space manipulator.