In recent years, with the development of space science and technology and the deepening of space exploration, a new type of institution with variable topology, variable topology, with its flexibility to adapt to the environment and diversity of tasks, has become an important development direction of multi-purpose and highly integrated complex space institutions in our country. Therefore, it is very important to study the dynamic problems of this kind of flexible variable topology mechanism and explore the methods and means to improve the dynamic performance, which meets the major requirements of the development of Chinese space science and technology. In this paper, a rigid-flexible coupling manipulator system that can realize the conversion of single and two degrees of freedom is studied. The full-structure nonlinear dynamics model of the manipulator is established by using the Kane method.

With the increasingly stringent restrictions on vibration and noise generated by the gear system, it has drawn widespread attention to the ways of predicting and controlling. In order to obtain accurate dynamic characteristics and reflect real bearing collisions, a nonlinear bearing model were proposed in this study, according to which a 9-freedom model of the dynamic transmission system with the two-stage helical gears was established. The impact of bearing clearance on the gear system could be revealed by analysing the dynamic response. This article contributes to the study of vibration modelling and monitoring of a transmission system with two-stage helical gears.

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