Abstract: Tostudythedynamiccharacteristicsofthespacestationtransformationviamanipulatorsystem,avectormechanicsmethodwasadoptedtodeducethedynamicequations.Thedynamicmodelingconsideringtheeccentricitywasestablished.Theelasticdeformationoftheflexiblemanipulatorwasdepictedbythefiniteelement(FE)method.ThedynamicmodelrepresentingtheattitudemotionwasestablishedwiththeNewtonEulermethod.ThevibrationsoftheflexiblemanipulatorcanbeobtainedbytheLagrangeapproach.Theloadangularvelocitycausedbythetipofelasticdeformationofthemanipulatorwasseparatedfromtheabsoluteanglevelocityoftheload.Toreducethedimensionsofthedynamicequations,aconstrainedmodeexpansionmethodwasusedfortheflexiblemanipulatorwithaheavyload.Themodelreductionmatrixfromspacetoplaneofthespacestationtransformationviamanipulatorwasproposed.Thesimulationresultsshowthattheoverallmomentofinertiarelativetothecenterofmasschangesgreatlyinthetranslocationprocessofthespacestation.Thescopeoftheeccentricityisbeyondthescopeofthegeometryofthecoremodule.Theresultscanbethetheoreticalreferencefordesigningcontrolsystemofspacestation.

Key words: Flexiblemanipulator, Translocation, Dynamicmodeling, FiniteelementEccentricity, Spacestation