Abstract
This chapter uses spatial operators to formulate the SKO dynamics and develop efficient recursive algorithms for systems with non-rigid links. Spacecraft and other lightweight structures are important examples of flexible multibody systems. Refer- ences [22,26,35,64,65,118,169] describe approaches to modeling the dynamics of flexible multibody systems with Banerjee [21] providing a historical survey of the field. For the sake of simpler exposition, we will focus on a canonical serial-chain system, though generalizations to more general topologies systems along the lines discussed in Chap. 9 are straightforward.
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© 2011 Springer Science+Business Media, LLC
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Jain, A. (2011). Systems with Link Flexibility. In: Robot and Multibody Dynamics. Springer, Boston, MA. https://doi.org/10.1007/978-1-4419-7267-5_13
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DOI: https://doi.org/10.1007/978-1-4419-7267-5_13
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Publisher Name: Springer, Boston, MA
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Online ISBN: 978-1-4419-7267-5
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