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着重分析空间对接机构差动式缓冲阻尼及传动系统主要组件： 丝杠差动组合、齿轮差动组合的机构运动学原理。在此基础上建立系统的运动学模型， 利用捕获环伸出过程和缓冲阻尼过程系统运动学仿真验证了系统模型。
Focus on analysis of space docking agencies differential damping damping and transmission system components: screw differential combination, gear differential combination of the mechanism of kinematics. Based on this, a systematic kinematics model is established, and the system model is verified by the kinematics simulation of the catching ring extension process and the damping damping process.