Formulation of rigid multibody systems in space
Abstract
The equations of motion of rigid multibody systems, such as space structures whose bases are free, are derived using the equations of motion of Kane et al. (1983). The equations of motion which set the position of the center mass of one body as generalized coordinates are first obtained. A technique for deriving the equations of motion which set the position of the center of mass of the system as generalized coordinates is then proposed in which the orbital motion and the attitude motion are treated separately. The method is shown to be applicable not only for the tree configuration system, but also for the loop configuration system with cutting loops, using Lagrange's multipliers as constrained forces.
 Publication:

JSME International Journal
 Pub Date:
 October 1987
 Bibcode:
 1987JSMEJ..30.1667Y
 Keywords:

 Equations Of Motion;
 Large Space Structures;
 Manipulators;
 Spacecraft Motion;
 Aerospace Engineering;
 Center Of Mass;
 Computerized Simulation;
 Lagrange Multipliers;
 Engineering (General)