Abstract: In this article, rigid docking technologies applied in complex working conditions: such as field rugged terrain outdoors, narrow space capsule, are specially mentioned, and a new evaluation indexes of position/orientation offset are introduced. This article builds geometric constraint models of common aligning methods applied nowadays, and makes a comparison among all methods by the evaluation indexes,as a result, gives out a “step-by-step” docking solution corresponsively. A new type of no-full degree of freedom (DOF) hybrid rigid docking mechanism, which combines several aligning methods mentioned in this article, is designed to eliminate multi-dimension position/orientation offset. This article analyzes the variation of position/orientation offset during the transition of different docking stages. Mechanism design parameters, maximum of allowable position/orientation offsets and corresponding evaluation indexes are also calculated and explained. Finally, this article developes JL-2 multi-dimension position/orientation offset docking mechanism platform and makes corresponding experiments.Experiment results meet theoretical values basically and testify the docking solution and physical design can work effectively.

Key words: docking, position/orientation offset, hybrid mechanism, no-full DOF, aligning method