Abstract: Mostofcurrentresearchesaboutvariablegeometrytruss(VGT)  motionplanningonlyfocusonthesituationthateachbayhassingledegreeoffreedom.MotionplanningofVGTwhoseeachbayarevariablemultiplelinkswereinvestigated.Kinematicmodelwassetupbasedonthegeometricalrelationship.Consideringmomentumconservationofthefreefloatingsystem，velocitykinematicmodelwasformulated.AmethodofdesigningmovingsequenceandmovingtimeseparatelywasproposedformotionplanningofsinglebayVGT.Additionally，multi-bayVGTmotionplanningproblemwassolvedbyenergyoptimum.Simulationresultsshowthatthealgorithmiseffective，andtheoptimizingindexis0.8798.ThemethodhaspracticalbenefitstothespaceoperationsystemwithVGT.

Key words: spaceoperationstructure, variablegeometrytruss, motionplanning, geneticalgorithm, kinematicmodeling, multibodymaneuvering