Dynamic Modeling And Numerical Simulation Of The Cable-bar Articulated Extension Arm

The cable-struct deployable mast consists of rope,rod and ball hinges,it is increasingly used in various spacecraft due to its light weight and high stability.The dynamic modeling method and numerical simulation of the a cable-struct deployable mast process can provide the necessary foundation for optimal design and control of the deployable mast.Firstly,the rigid-flexible coupling dynamic model is established based on the absolute nodal coordinate method of flexible multi-body system.Then,the discrete interpolation of the generalized coordinates is carried out.Combining the high precision numerical integration method and the discrete variational principle,the dynamic model is simulated by discrete variable fraction.In order to improve the accuracy and stability of the calculation,the Chebyshev node is selected and the Lagrange interpolation is introduced.The numerical results show that the results obtained by the discrete variational value integral method are more accurate than the traditional numerical solution in the case of large step size,and the constraint is stable and can be effectively applied to the extension of the cable-struct deployable mast simulation.