Formulation and Algorithm for Multi-Flexible-Body Dynamics

An improved formulation of the dynamics of multiple flexible bodies coupled via joints, and an algorithm that implements the formulation, have been developed at Johnson Space Center (JSC). A robot arm with multiple, somewhat flexible links is a prime example of a dynamic system to which the formulation and algorithm are intended to be applied. Other potential domains of application could include spacecraft, aircraft, industrial, automotive, and marine systems. The goal in developing the formulation and algorithm was to increase the efficiency of computational simulations of the dynamics of all such systems.