A fast dynamics model that captures the deployment dynamics of self-actuated, origami-inspired, folded planar spacecraft structures is desired for design and verification applications. In this paper, a general simulation framework for numerically generating the equations of motion of any structure that complies with a set of pattern assumptions is designed and presented. The framework is built through expansion of the articulated body forward dynamics algorithm and the tree-augmented approach for closed-chain forward dynamics. These are multi-body dynamics approaches developed in the literature for complex robotic manipulator systems. Unique adaptations are required to address the highly constrained nature of a folding structure, and summaries of the resulting algorithms are provided. This solution is desirable due to the computational efficiency of the base algorithms and the ability to analyze multiple systems without reformulation of the core dynamics algorithm.
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