Dynamic analysis of flexible space shuttle remote manipulator system with large payloads

摘要

This paper presents a new approach for determination of vibration response of thetriply articulated Space Shuttle Remote Manipulator System (SRMS) with large rigidoverhanging payloads. In contrast to other researchers dynamic modelling is basedon the exact eigenvalue analysis of the two main flexible links with a rigid endeffector and payload, including the effect of interaction of the Shuttle. A wide rangeof SRMS configurations and payloads with joints free and locked is examined forbang-bang slews and with all joints locked for payload positioning using Shuttlethruster firing.