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.

The flexible variable topology mechanism (FVTM) has become a research focus in the field of the mechanism because of its reconfigurable characteristics, which exhibit excellent adaptability in complicated working environments. In the process of topology transformation, the FVTM often generates impact, which leads to vibration and instability of the flexible elements. It seriously affects the accuracy and reliability of the operation. In view of this, this paper takes the serial-FVTM as an example to analyse its impact characteristics during topology transformation. The impact dynamics model is established by the theorem of impulse. Based on this, the fourth-order Runge-Kutta method is used to solve the dynamics differential equations. Using the control variable method, the influence of different parameters on the impact characteristics of the FVTM is obtained through numerical simulation analysis. Finally, the methods to improve the stability of the FVTM during topology transformation are analysed to expand new ideas for the subsequent research.