摘要：This paper introduces the components and functions of institution aiming at docking capture link of the small satellite manipulator end executor. Putting forward to Euler method and quaternion as the theoretical basis, kinetics of grasping institution the relative position and attitude are modeling and analyzed. The axial tilt grab conditions of the simulation analysis are finished by the ADAMS software. The results of the simulation analysis for the relative position and velocity and the hand-grasp collision force are concluded.
关键词：End executor institution; Kinematics analysis; Movement modeling; ; Simulation analysis
