Modelling the Shuttle Remote Manipulator System: Another flexible model
Abstract
High fidelity elastic system modeling algorithms are discussed. The particular system studied is the Space Shuttle Remote Manipulator System (RMS) undergoing full articulated motion. The model incorporates flexibility via a methodology the author has been developing. The technique is based in variational principles, so rigorous boundary condition generation and weak formulations for the associated partial differential equations are realized, yet the analyst need not integrate by parts. The methodology is formulated using vectordyad notation with minimal use of tensor notation, therefore the technique is believed to be affable to practicing engineers. The objectives of this work are as follows: (1) determine the efficacy of the modeling method; and (2) determine if the method affords an analyst advantages in the overall modeling and simulation task. Generated out of necessity were Mathematica algorithms that quasiautomate the modeling procedure and simulation development. The project was divided into sections as follows: (1) model development of a simplified manipulator; (2) model development of the fullfreedom RMS including a flexible movable base on a six degree of freedom orbiter (a rigidbody is attached to the manipulator endeffector); (3) simulation development for item 2; and (4) comparison to the currently used model of the flexible RMS in the Structures and Mechanics Division of NASA JSC. At the time of the writing of this report, items 3 and 4 above were not complete.
 Publication:

In NASA. Johnson Space Center
 Pub Date:
 December 1993
 Bibcode:
 1993asee....1R....B
 Keywords:

 Boundary Conditions;
 End Effectors;
 Flexibility;
 Manipulators;
 Partial Differential Equations;
 Remote Manipulator System;
 Variational Principles;
 Algorithms;
 Computerized Simulation;
 Degrees Of Freedom;
 Engineers;
 Tensors;
 Mechanical Engineering