Abstract
A relatively general formulation for studying dynamics of a system, consisting of N connected flexible deployable members (beams, plates, shells, membranes, strings) forming a topological tree or a closed configuration, is presented. The mathematical description of the system can be, in general, a combination of discrete and distributed coordinates. Joints, elastic and dissipative, permit relative rotation and translation between bodies. The elastic deformations (lateral, axial, and torsional) can be discretized using admissible functions, finite elements or lumped mass method. Rotations of the members, as well as of the entire system, can be described using a set of orientation angles, Euler parameters or Rodrigues vectors. The formulation accounts for: the presence of momentum or reaction wheels (gimballed or fixed); thrusters distributed over the flexible and rigid portions; and any prescribed forms of energy dissipation mechanisms. Of course, the generalized forces can simulate desired environmental effects. The formulation is valid for orbiting as well as ground based and marine systems. Application of the formulation is illustrated through several examples, in spacecraft dynamics, which are of contemporary interest. (Author)