Abstract: As Huston's form of Kane's equation cannot be easily applied to large deployable structures, what is needed is further development of Kane's equation as described in this paper. Fully-Cartesian-coordinate (FCC) method uses Cartesian coordinates of points and Cartesian components of unitary vectors as generalized coordinates to describe three-dimension mechanisms. This FCC method avoids the need to consider angular coordinates and the resulting solution is just the space position of the structures. The FCC form of Kane's equation derived in this study is suitable for solution by computer method and is a good base for further simulation research. A numerical example showed that it is effective.

Key words: deployable structure, dynamic, kinematic, Kane's equations

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