Universal dynamic model of the tethered space Robot

The tethered space robot (TSR) plays a significant role in the noncooperative capture. Compared with traditional space robots and tethered satellite systems, the flexible tether and complex end-bodies bring great challenges to the dynamic modeling. From the topological configuration, a universal mathematical model is presented based on Hamilton's principle and Lagrange multipliers. A numerical model is derived by the finite-element method, in which the multiple rigid end-bodies, the tether mass, elasticity, and flexibility are all described. Finally, the dynamic model is validated by the comparison with the real flight data. Simulation results achieve good agreements with the real flight data.