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中文摘要：
为分析空间站在应用机械臂转位过程中的动力学特性,采用矢量力学方法推导了考虑偏心量的空间站转位系统动力学模型。使用有限元方法描述柔性臂的弹性变形,应用Newton-Euler法建立空间站机械臂转位系统转动方程,并采用Lagrange法建立柔性臂振动方程;针对柔性机械臂末端带有大负载的特点,将末端弹性变形引起的负载角速度从负载绝对角速度中分离,应用约束模态展开法对动力学方程进行降阶。提出了构造降维矩阵的方法以便于利用空间动力学模型研究机械臂平面转位问题;分析了空间站舱体转位过程中系统的转动惯量、偏心量发生变化的特性。数值仿真结果表明：空间站在转位过程中,系统总体相对于系统质心的转动惯量变化巨大,且偏心量变化范围甚至已超出了空间站核心舱的几何范围。结论可为空间站的控制系统设计提供理论参考。
英文摘要：
To study the dynamic characteristics of the space station transformation via manipulator system, a vector mechanics method was adopted to deduce the dynamic equations. The dynamic modeling considering the eccentricity was established. The elastic deformation of the flexible manipulator was depicted by the finite element （FE） method. The dynamic model representing the attitude motion was established with the Newton-Euler method. The vibrations of the flexible manipulator can be obtained by the Lagrange approach. The load angular velocity caused by the tip of elastic deformation of the manipulator was separated from the absolute angle velocity of the load. To reduce the dimensions of the dynamic equations, a constrained mode expansion method was used for the flexible manipulator with a heavy load. The model reduction matrix from space to plane of the space station transformation via manipulator was proposed. The simulation results show that the overall moment of inertia relative to the center of mass changes greatly in the translocation process of the space station. The scope of the eccentricity is beyond the scope of the geometry of the core module. The results can be the theoretical reference for designing control system of space station.
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