Forward dynamics analysis of origami-folded deployable spacecraft structures

A fast dynamics model that captures the deployment dynamics of self-actuated, origami-inspired, folded planar spacecraft structures is desired for design and verification applications. In this paper, a general simulation framework for numerically generating the equations of motion of any structure that complies with a set of pattern assumptions is presented. The framework is built through application of the articulated body forward dynamics algorithm and the tree-augmented approach for closed-chain forward dynamics. These are multi-body dynamics approaches developed in the literature for complex robotic manipulator systems. Unique adaptations are required to address the highly constrained nature of a folding structure. This solution is desirable due to the computational efficiency of the base algorithms and the ability to analyze multiple systems without reformulation of the core dynamics algorithm. Baumgarte stabilization techniques are applied to address constraint violations, but are found to be a continuing challenge for folding structures with several closed-chains.

Automated summary

This paper presents a general simulation framework for generating the motion equations of any structure that complies with a set of pattern assumptions, with unique adaptations for the highly constrained nature of folding structures. The solution is computationally efficient and able to analyze multiple systems, but constraint violations remain a continuing challenge for folding structures with multiple closed-chains.