| Item type |
紀要論文 / Departmental Bulletin Paper(1) |
| 公開日 |
2015-03-26 |
| タイトル |
|
|
タイトル |
Dynamics of a Flexible Orbiting Platform with MRMS |
|
言語 |
en |
| 言語 |
|
|
言語 |
eng |
| 資源タイプ |
|
|
資源タイプ識別子 |
http://purl.org/coar/resource_type/c_6501 |
|
資源タイプ |
departmental bulletin paper |
| 著者 |
森田, 泰弘
MORITA, Yasuhiro
Vinod, J. MODI
|
| 著者所属（英） |
|
|
|
en |
|
|
Professor, Department of Mechanical Engineering, University of British Columbia |
| 出版者 |
|
|
出版者 |
宇宙科学研究所 |
| 出版者（英） |
|
|
出版者 |
Institute of Space and Astronautical Science |
| 書誌情報 |
en : The Institute of Space and Astronautical Science report
巻 625,
p. i-68,
発行日 1988-02
|
| 抄録（英） |
|
|
内容記述タイプ |
Other |
|
内容記述 |
A relatively general formulation for studying dynamics of a flexible Mobile Remote Manipulator System (MRMS), supported by an orbiting flexible platform, is developed using the Lagrangian approach with generalized forces accounting for the environmental effects, damping and control. The flexible members are treated as continuum and their flexural deformations represented by a series of admissible functions. The highly nonlinear, nonautonomous and coupled equations of motion, being not amenable to any known closed-form solution, are solved numerically. The computational algorithm is so structured as to isolate the effects of various system parameters thus helping in assessment of their relative importance. Next, effectiveness of the general formulation is illustrated by studying complex interactions between vibrational and librational degrees of freedom in the presence of MRMS maneuver over a range of system parameters and initial conditions. The problem is purposely approached in an increasing order of complexity to gain physical appreciation of the system response. To that end the MRMS is replaced by a single arm. To start with a parametric study of a rigid platform supporting a rigid arm is carried out followed by a progressive introduction of the platform and arm flexibility. Finally, the general case of the Eulerian beam type platform with a flexible slewing and translating arm lays a foundation for studying more complex configurations which the formulation is designed to tackle. Results suggest that the MRMS maneuver can affect librational and vibrational response substantially and under critical combinations of parameters the system can become unstable. The information is fundamental to the design of a control strategy which, for a flexible system in the presence of generalized forces, has received virtually no attention. The thesis ends with a set of recommendations for future course of study which is likely to be innovative, useful and satisfying. |
| ISSN |
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|
収録物識別子タイプ |
ISSN |
|
収録物識別子 |
0285-6808 |
| 書誌レコードID |
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|
収録物識別子タイプ |
NCID |
|
収録物識別子 |
AA10632072 |
| 資料番号 |
|
|
内容記述タイプ |
Other |
|
内容記述 |
資料番号: SA0035035000 |
SA0035035.pdf (3.9 MB)
