Study on bionic rotation of a free-floating space robot

Double rigid bodies model of a free-falling cat´s rotation has been widely accepted, through the further analysis of this model the paper designed a 3-DOF hinge joint in order to realize the rotation of a free-floating space robot under the condition of weightlessness. Based on the law of linear momentum and angular momentum conservation, general kinematics model of the space robot was established in this paper, and the algorithm that is available for MATLAB analysis was proposed according to the kinematics model. At last the paper had a kinematics analysis of the 3-DOF hinge joint, and the joint model was proved to be correct.