【摘要】 研究了两个带有周边式对接机构的航天器，在对接捕获的过程中，对接机构之间相互接触后，产生接触滑移时对接系统的运动学特性。根据对接机构的空间特点，引入矢量代数的概念，建立了对接机构之间接触滑移的运动约束方程，及其接触点在对接机构上的相对滑移速度方程。更多还原

【Abstract】 The kinetic characteristic of sliding motion about the contact points of peripheral docking mechanism for mutual effect is investigated. In accordance with the space feature of docking mechanism，by quoting the vector algebra concept，the sliding motion equations for docking mechanism mutual effect are built up, and the sliding motion velocity equations of the contact points on the docking mechanism are given．更多还原