Dynamic Analysis of the Hinged Boom Based on Udwadia-Kalaba Equation

Hinged booms are widely used in astrophysics missions; however, the trajectory and deployment velocity are difficult to control. This is because the booms are usually driven by springs, which limits their application in narrow spaces. And the torque calculation of the spring is difficult. Thus, this paper presents a dynamic analysis method for hinged boom based on the Udwadia-Kalaba Equation. The method avoids Lagrange multipliers and simplifies the calculation process. Using assumed mode method (AMM) and tree topology multi-body theory to derive dynamic equation of the hinged boom. Finally, according to the Udwadia-Kalaba Equation calculates the torque required by each hinge of the hinged boom and verifies the feasibility of this method by Adams.