Fictitious Joints Modelling of Manipulator Link Flexibility for the HERA Simulation Facility Pilot.

摘要

The mathematical model for the dynamics of HERA must take into account structural flexibility in the slender manipulator links. For the HERA Simulation Facility Pilot, the model will contain one bending mode in each bending plane, and one torsion mode. The present document describes how the model can be simulated with rigid body simulation software through the introduction of fictitious joints. Limitations and extensions are indicated.