A 'Kane's Dynamics' model for the Active Rack Isolation System. Part 2: non-linear model development, verification and simplification

Boeing's Active Rack Isolation System (ARIS) isolates microgravity space-science experiments on the International Space Station (ISS) against station-induced disturbances, at the level of the International Standard Payload Rack (ISPR). Part 1 of this documentation presented a linearised model of ARIS, hand-developed via Kane's method. Part 2, below, reports the use of software packages to develop and verify a corresponding non-linear model, without umbilicals. The model is first verified against a 'truth' model, then linearised to match the model of Part 1, and finally simplified using reasonable negligible-inertia assumptions. The resulting models all show nearly identical, and physically reasonable, dynamical responses.