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.

设计和验证应用需要一种快速动力学模型来捕获自驱动的，折纸启发的，折叠的平面航天器结构的部署动力学。在本文中，提出了一种通用的仿真框架，用于数值生成符合一组模式假设的任何结构的运动方程。该框架是通过应用铰接式车身前向动力学算法和闭环前向动力学的树增强方法构建的。这些是文献中针对复杂机器人操纵器系统开发的多体动力学方法。需要独特的修改以解决折叠结构的高度约束性。由于基本算法的计算效率以及无需重新制定核心动力学算法即可分析多个系统的能力，因此需要此解决方案。鲍姆加特（Baumgarte）稳定技术被用于解决违反约束的问题，但是发现对于折叠具有几个闭合链的结构而言，这仍然是一项持续的挑战。