The dynamic math model of a peripheral docking mechanism with accumulation of spacecraft approach kinetic energy

The new peripheral docking mechanism is part of a docking unit designed in compliance with the International Docking System Standard (IDSS). The mechanism kinematics is based on the Gough-Stewart platform. Spring mechanisms are used for transformation of spacecraft approach kinetic energy. However, traditional damping is replaced by energy accumulation. Therefore, the design includes new devices. The dynamic math model of the docking mechanism described in this paper takes into account its main features - kinematics, inertia properties and generation of internal active forces by separate devices. Along with spacecraft motion equations and algorithms of docking unit contact interaction analysis, this model is part of a docking math model used for the analysis of kinematics and dynamics processes from the first contact to the end of retraction.