Flexible Multi body Analysis of

Space Antenna
Durga Prasad Pydi
ME16B012
Stages in Deployment

Fig.2. Deployment stages in an antenna

2
Coordinate System

ij i i ij ij ij ij i
r =R + A ū ū = Φ B B q fi

Ri - Position vector of the BCS

Ai - Transformation matrix from FCS to BCS
uij - Local vector of arbitrary point
Sij - Shape matrix in BCS
Bij - Boolean matrix for connectivity in BCS
Bi - Matrix of reference conditions
qfi - Vector of elastic coordinates of
deformable body i
Fig.2. Coordinate system

3
Kinematic Analysis
i
P i= T i +1 Pi +1
1 1
Ṗ 1= T j Ṗ j + Ṫ j P j
1 1 1
P̈ 1= T j P̈ j +2 Ṫ j Ṗ j + T̈ j P j

XD =i
R 2 cos φ ,Y D = R 2 sin φ
i

if i is an odd number
XD =i
R 2 cos φ ,Y D =− R 2 sin φ
i

if i is an even number
Fig.3. Coordinates of the joints

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 Transformation Matrix

[ ]
cos θ 0 sin θ X D
i

i 0 1 0 YD
T i+ 1= i j

−sin θ 0 cos θ 0
1
Tj = ∏ i−1T i
i=2
0 0 0 1

[ ]
α1 0 α2 β1
0 1 0 γ
=
− α2 0 α1 β2
0 0 0 1

α 1=cos [( j−1) θ ], α 2=sin[( j −1) θ ]

j
β1 ={∑ cos [(i−2) θ ]}R 2 cos φ
i =2
γ =0.5 [1−(−1) j −1 ]R 2 sin φ
j
β2 =−{∑ sin [(i−2) θ ]}R 2 cos φ
i=2

Fig.4. Antenna with coordinates labeled

5
Dynamic Analysis
Lagrangian Formulation
d ∂T ∂T ∂V ∂E Fig.5. Elastic coordinates in element coordinate system
− + + =Q q
dt ∂ q̇ ∂q ∂q ∂q Elastic Potential Energy
Here T = Kinetic energy of the system,
V = Gravitational potential energy,
E = Elastic potential energy,
Φ=
[ 0 ϵ 0
l b( ϵ−2ϵ2 +ϵ3 ) 0 l b( ϵ3−ϵ2) ] Here ϵ = x/lb

Qq = Generalized forces
q = Generalized coordinates.
U i=
[
1 4 EI 2 4 EI
2 lb
q fi1 +
lb
q fi1 qfi3 +
4 EI 2 EA 2
q + q
l b fi3 l b fi2 ]
3n
U=∑ U i
i=1

6
Dynamic Analysis
Kinetic Energy
n
1 2 2 2
T= m{∑ {V X +V Y +V Z }}
2 j=2 j j j

Gravitational Potential Energy

n
V = −∑ mgR 2 sin φ = −nmgR 2sin φ
i=1

Generalized Forces
T
Qq=[ τ 0 0 ... 0 ]
Fig.3. Coordinates of the joints

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Computational Formulation

M q̈ + K q f =Qe+Qv =Q q

Augmented formulation
T
M q̈+C q λ = Q e+Q v

[ ][ ] [ ] [ ]
T
M Cq q̈ = Q e+Q v = Q q
Cq 0 λ Qc Qc

*Fig.6. Comparison of rigid and flexible results

Taken from reference [3]

8
References
[1].Constrained motion of deformable bodies A. A. Shabana
[2]. Yiqun Zhang n , Baoyan Duan, Tuanjie Li, “A controlled deployment method for flexible deployable space antennas”
[3]. Tuanjie Li, “Deployment analysis and control of deployable space antenna “