Dynamic Analysis of 3D Multi Rigid Bodies with Discontinuous Velocities

Abstract

This paper considers a method for dynamic analysis of multi rigid bodies in space with impulsive forces, impact, and discontinuous velocities. The system equations of motion for rigid bodies connected with hinges are derived from the virtual work principal to the D'Alembert form of the Newton-Euler equations. Main body velocities/angular velocities and each hinge's angular velocity are used for the system variables. Discontinuities in the velocity are observed when either an impulsive torque is applied to a hinge or a sudden hinge lock occurs. A general formulation between the velocity jump and the impulsive force is presented for the system equations. The panel deployment of a spacecraft structure is numerically simulated using the method to demonstrate its capabilities.