关键词: 关键词： 柔性空间机械臂, 动力学建模, 向量对方法, 刚柔耦合

Abstract: Abstract： The vector pairs method is adopted for dynamic modeling of a freefloating twolinks flexible space manipulator system in this paper. On the basis of each body’s dynamic function, the constraint equations between each two connected objects are derived. These equations are assembled by Lagrange multiplier method and constitute the dynamic equations of the whole system. By using this method, the modeling process requires less information and the functions are easy to deduce. The final dynamic equations are very standardized and more appropriate to design control system. The validity of the dynamic equations derived by the method has been demonstrated by numerical simulations.

Key words: Keywords：flexible space manipulator, dynamic modeling, vector pairs method, coupled rigidflexible system