Abstract: The dynamics model of a free-flying space robot with arbitrary joints connected manipulator is established, and verified by numerical simulation. Firstly, the model of a space multi-body system with three degrees of freedom in adjacent bodies is established using Kane equation. Then, projective operators are used to transform general equations into the dynamics model of a space robot with one degree of freedom between the bodies of its manipulator. Three fundamental dynamical theorems, i.e. momentum theorem, momentum moment theorem, kinetic energy theorem are used to design the algorithm to verify the dynamics model. Finally, numerical simulation verifies the dynamics model of the space robot.

Key words: space robot')">space robot, dynamics modeling, Kane equation