Modeling on flexible variable topology mechanism based on the Kane method

In recent years, with the development of space science and technology and the deepening of space exploration, a new type of institution with variable topology, variable topology, with its flexibility to adapt to the environment and diversity of tasks, has become an important development direction of multi-purpose and highly integrated complex space institutions in our country. Therefore, it is very important to study the dynamic problems of this kind of flexible variable topology mechanism and explore the methods and means to improve the dynamic performance, which meets the major requirements of the development of Chinese space science and technology. In this paper, a rigid-flexible coupling manipulator system that can realize the conversion of single and two degrees of freedom is studied. The full-structure nonlinear dynamics model of the manipulator is established by using the Kane method.