Forward dynamics analysis of origami-folded deployable spacecraft structures

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