Study on bionic attitude transformation of free-floating space robot

Double rigid bodies bending theory model of a free-falling cat's twist has been widely accepted. A 3-DOF hinge joint model is designed through the further analysis of this model, which realizes the attitude transformation of a free-floating space robot under the condition of weightlessness. Based on linear momentum and angular momentum conservation principle, general kinematics model of the space robot was established in this study, and the algorithm that is available for MATLAB analysis was proposed according to the kinematics model. And the paper had a kinematics analysis of the 3-DOF hinge joint model which was proved to be correct. Besides, the paper studied the influence on attitude transformation of structure parameters when the structure was symmetrical or asymmetrical, and the best bending angle method was brought up to achieve the disturbance-accuracy-required attitude transformation of asymmetrical structure.