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空间机器人将在未来的空间项目中发挥重要的作用。但在空间环境中，由于缺乏一个固定的基座，机械臂的运动会对机器人本体的位置和姿态产生扰动，其运动学将变得很复杂。为建立自由飞行空间机器人的运动学模型，通常是将系统的动量表达为某个预先选定连杆的速度的函数，进而得到具有广义雅可比矩阵形式的运动学模型。这种方法的缺点是系统的动量无法以通用表达式描述，并且对如何最优选取连杆也缺乏必要的说明和讨论。本文对此进行了研究，得到了自由飞行空间机器人系统动量的通用表达式；通过选取相应的连杆，得到了具有广义雅可比矩阵形式的运动学模型；也分析和讨论了连杆优选问题。
Space robots will play an important role in future space projects. However, in the space environment, due to the lack of a fixed base, the movement of the manipulator will disturb the position and posture of the robot body, and its kinematics will become complicated. In order to establish the kinematics model of a free-flight space robot, the momentum of the system is usually expressed as a function of the velocity of a pre-selected connecting rod and a kinematic model with a generalized Jacobian matrix is obtained. The disadvantage of this method is that the momentum of the system can not be described in general expressions and the necessary explanations and discussions on how to optimally select the connecting rod are also lacking. In this paper, the general expressions of the momentum of free-flight space robotic system are obtained. By selecting the corresponding connecting rod, the kinematic model with generalized Jacobian matrix is obtained. The link optimization problem is also analyzed and discussed.