目前各国在轨应用的对接机构属于硬碰撞式对接机构，在此构型下两航天器在空间进行碰撞接触时撞击能量较大，并且此结构下目标飞行器的对接范围较窄。随着空间探测任务的深入，需要对对接机构提出更高层次的设计要求，因此弱撞击对接机构也将成为空间探测任务中一项重要的研究方向。本文对弱撞击对接机构运动学的正解和反解进行了研究分析，得到了相应的推导公式，并通过MATLAB软件对其进行了算例校验。求解出了对接环运动速度和执行推杆伸出速度的关系，这对弱撞击对接机构的工程研制有很大的应用价值。
At present, the on-orbit docking mechanism of each country is the high impact docking mechanism. With this configuration, the impact energy is great when two spacecrafts contact with each other in the space. The range of the docking of the target spacecraft is narrow due to the characteristics of this configuration. With the development of deep space exploration, higher level of design requirement is needed, so the low impact docking mechanism has become an important research direction in deep space exploration missions. In this paper, the positive and negative solutions for the kinematics of the low impact docking mechanism are studied, and the corresponding calculation formula is obtained. A numerical example is used to analyze the formula with MATLAB. The relationship between the velocity of the docking ring and the speed of the linear actuator is solved, which is of great value to the engineering development of the low impact docking mechanism.
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