Payam Zarafshan - Department of Mechanical Engineering, K. N. Toosi University Of Technology
S. Ali Akbar Moosavian - Professor Department of Mechanical Engineering, K. N. Toosi University Of Technology

Dynamics modelling of Flexible Multi-Body Systems (FMBS) is studied here. Since control of such systems is more complicated, the usage of an applied dynamics model which is more useful and simplified seems necessary. The accumulation in dynamics model is defined as the adjoined dynamics affects of the flexible members to the dynamics equations of the rigid members. Whereas, the motion's equations of the rigid and the flexible members are extracted separately in the Rigid-Flexible Interactive dynamics Modelling (RFIM) approach and they are solved together at each time step by noting the constraint forces. This simplified model is more applied in the complex control algorithm like as an object manipulation control for the multi-body systems such as Vehicles, Robotic Systems, Air- and Space- Craft. In addition, the verification study of this achieved model is more simple and possible rather than the accumulative model. Then, for more realization and explanation, we study this approach on a case study. The assumed system is a Space Free Flying Robot (SFFR) which contains two 2-DOF planar manipulators and two flexible solar panels. Considering the verified model of the rigid members which is extracted by Direct Path Method (DPM), the verification of the flexible body is attained by using ANSYS and ADAMS programs. Obtained results reveal the merits of the proposed approach in the dynamics modelling of the FMBS especially on the space robotic systems.

Dynamics Modelling, Rigid-Flexible Interactive dynamics Modelling approach, Flexibility, Multi-Body Systems,Robotic Systems