中文摘要：

建立带任意节机械臂的空间机器人动力学模型，并验证了模型的正确性．采用Kane方程建立了各体间转铰具有三自由度的空间多体系统的动力学模型，利用投影算子将所建立的模型退化为各节机械臂间具有单自由度转铰连接的空间机器人动力学模型，依据动力学三大基本定理，即动量定理、动量矩定理、动能定理设计了模型验证方案，通过数学仿真验证了所建立模型的正确性．

英文摘要：

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.