Simulation on Flexible Multibody System with Topology Changes for In-space Assembly
Tóm tắt
In-space assembly (ISA) has become a potential solution to building large space structures. However, the motion of an ISA system will experience a sudden topology change when two flexible modules are assembled together thus causing the whole system to oscillate. Therefore, understanding the dynamics of an ISA system during and after assembly is of importance. This paper presents a methodology for simulations of ISA system based on the modeling of flexible multibody system with topology changes. The theory of Absolute Nodal Coordinate Formulation (ANCF) is applied to describing the deformation of flexible bodies. Meanwhile, combining the impulse-momentum equations and the constraint equations in velocity level, a linear algebraic equation is obtained to solve the discontinuous velocity changes when different modules are assembled together. In addition, the dynamic model of a typical ISA system made up of hexagon truss modules is established based on Lagrange’s equations of the first kind. Finally, numerical simulations are provided to evaluate the effect of gravity and to investigate a basic assembly procedure. The presented model is verified to be able to accurately describe the assembly procedure and able to capture the oscillations after topology changes. The simulation results are furthermore analyzed to study the dynamic characteristics of the ISA system.
Từ khóa
Tài liệu tham khảo
Akin, D., Sullivan, B.: A survey of serviceable spacecraft failures. In: Proceedings of AIAA Space Conference and Exposition, AIAA-2001-4540 (2001). https://doi.org/10.2514/6.2001-4540
Whittaker, W.L., Urmson, C., Staritz, P.: Robotics for assembly, inspection, and maintenance of space macrofacilities. In: Proceedings of AIAA Space Conference and Exposition, AIAA-2000-5288 (2000)
Nishida, S.I., Yoshikawa, T.: A new end-effector for on-orbit assembly of a large reflector. In: Proceedings of IEEE Ninth International Conference on Control, Automation, Robotics and Vision, ICARCV 2006, Singapore, 5–8 December 2006 (2007)
Zimpfer, D., Kachmar, P., Tuohy, S.: Autonomous rendezvous, capture and in-space assembly: past, present and future. In: 1st Space Exploration Conference: Continuing the Voyage of Discovery (2005)
Friend, R.B.: Orbital express program summary and mission overview. Proc. SPIE 6958, 695803 (2008). https://doi.org/10.1117/12.783792
Lillie, C.F.: On-orbit assembly and servicing of future space observatories. Proc. SPIE 6265, 62652D (2006). https://doi.org/10.1117/12.672528
Postman, M., Sparks, W.B., Liu, F., Ess, K., Green, J., Carpenter, K.G., et al.: Using the ISS as a testbed to prepare for the next generation of space-based telescopes. Proc. SPIE 8442, 84421T (2012). https://doi.org/10.1117/12.926492
Miller, D.W., Mohan, S., Budinoff, J.: Assembly of a large modular optical telescope (ALMOST). In: Conference on Space Telescopes and Instrumentation (2008). https://doi.org/10.1117/12.788566
Mohan, S.: Quantative selection and design of model generation architectures for on-orbit autonomous assembly. PhD thesis, Massachusetts Institute of Technology, Cambridge (2010)
Eckersley, S., Saunders, C., Lobb, D., Johnston, G. , Baud, T., Sweeting, M., et al.: Future rendezvous and docking missions enabled by low-cost but safety compliant guidance navigation and control (GNC) architectures. In: Proceedings of The 15th Reinventing Space Conference. British Interplanetary Society (2017)
Basmadji, F.L., et al.: On-orbit assembly of large structures using space robots. In: Proceedings of the 14th Symposium on Advanced Space Technologies in Robotics and Automation, Leiden, the Netherlands (2017)
Deremetz, M., Grunwald, G., Cavenago, F., Roa Garzon, M.A., De Stefano, M., Mishra, H., Zwick, M.: Concept of operations and preliminary design of a modular multi-arm robot using standard interconnects for on-orbit large assembly. In: 72st International Astronautical Congress (2021)
Bartsch, S., et al.: In-orbit demonstration of ISMA robotic capabilities to pave the way for a new generation of space systems. In: Proceedings of 73rd International Astronautical Congress (2022)
Estable, S., et al.: Outcomes of the PERIOD project on in-space manufacturing, assembly and refuelling technologies. J. Phys. Conf. Ser. 2526, 012121 (2023). https://doi.org/10.1088/1742-6596/2526/1/012121
Huebner, L.D., Shestople, P., Patané, S., Hillsberry, D.: OSAM-2: plans and progress for the first demonstration of structural manufacturing in space. In: NSMMS & CRASTE Joint Symposia (2022)
Li, D., Zhong, L., Zhu, W., Xu, Z., Tang, Q., Zhan, W.: A survey of space robotic technologies for on-orbit assembly. Space 1, 2–3 (2022). https://doi.org/10.34133/2022/9849170
Han, I., Gilmore, B.J., Ogot, M.M.: The incorporation of arc boundaries and stick/slip friction in a rule-based simulation algorithm for dynamic mechanical systems with changing topologies. J. Mech. Des. 115, 423–434 (1993). https://doi.org/10.1115/1.2919207
Gonthier, Y., McPhee, J., Lange, C., Piedboeuf, J.C.: A regularized contact model with asymmetric damping and dwell-time dependent friction. Multibody Sys.Dyn. 11, 209–233 (2004). https://doi.org/10.1023/B:MUBO.0000029392.21648.bc
Shi, J., Hong, J., Liu, Z.: Multi-variable approach of contact-impact issue in variable topology system. Theor. Appl. Mech. Lett. 3(1), 013007 (2013). https://doi.org/10.1063/2.1301307
Jean, M.: The non-smooth contact dynamics method. Comput. Methods Appl. Mech. Eng. 177(3–4), 235–257 (1999). https://doi.org/10.1016/S0045-7825(98)00383-1
Chang, C., Shabana, A.A.: Spatial dynamics of deformable multibody systems with variable kinematic structure. Part 1. Dynamic model. J. Mech. Des. 112(2), 160–167 (1990). https://doi.org/10.1115/1.2912588
Khulief, Y.A., Shabana, A.A.: Dynamic analysis of constrained system of rigid and flexible bodies with intermittent motion. J. Mech. Trans. Automat. 108(1), 38–45 (1986). https://doi.org/10.1115/1.3260781
Guo, W., Wang, T.: A methodology for simulations of multi-rigid body systems with topology changes. Multibody Syst. Dyn. 35, 25–38 (2015). https://doi.org/10.1007/s11044-015-9456-9
Guo, S., Li, H., Cai, G.: Deployment dynamics of a large-scale flexible solar array system on the ground. J. Astronaut. Sci. 66, 225–246 (2019). https://doi.org/10.1007/s40295-018-0138-8
Khan, I.M., Poursina, M., Anderson, K.S.: Model transitions and optimization problem in multi-flexible body systems: application to modeling molecular systems. Comput. Phys. Commun. 184, 1717–1728 (2013). https://doi.org/10.1016/j.cpc.2013.02.025
Xue, Z., Liu, J., Wu, C., Tong, Y.: Review of in-space assembly technologies. Chin. J. Aeronaut. 34(11), 21–47 (2021). https://doi.org/10.1016/j.cja.2020.09.043
Ding, J., Gao, F., Zhong, X., Wang, G., Liang, D., Zhang, Y., et al.: The key mechanical problems of on-orbit construction. Sci Sin 49(2), 024506 (2019). https://doi.org/10.1360/N092018-00367. (in Chinese)
Shabana, A.A., Hussien, H.A., Escalona, J.L.: Application of the absolute nodal coordinate formulation to large rotation and large deformation problems. J. Mech. Des. 120(2), 188–195 (1998). https://doi.org/10.1115/1.2826958
Shabana, A.A.: Dynamics of Multibody Systems. Cambridge University Press, Cambridge (2020)
Arnold, M., Brüls, O.: Convergence of the generalized-α scheme for constrained mechanical systems. Multibody Syst. Dyn. 18, 185–202 (2007). https://doi.org/10.1007/s11044-007-9084-0