【摘要】 研究了用于空间飞行器对接机构的差动式机电缓冲阻尼系统的动力学。提出了一种关于此类６自由度的串、并联复合系统的动力学分析方法。应用Ｌａｇｒａｎｇｅ分析技术推导出了系统动力学方程，给出了相应的系统约束方程，并对系统中多部位的库仑摩擦阻尼进行了处理和实例计算分析。结论表明该方法可进行差动式机电缓冲阻尼系统的动力学分析、系统刚度和阻尼特性分析以及系统功能校核分析。更多还原

【Abstract】 Presented is an analysis of the dynamics of a mechano electronic spring damper system of differential type applied in the docking mechanism of space craft. An algorithm for dynamical analysis of this coupled 6 degree of freedom system with both serial and parallel connections was presented. Dynamic equations of the system were derived by using Lagrangian technics. The constraint equations were given. Columb frictions which can be found between many parts of the system were dealt with in a special way. An example was carried out. Dynamical analysis, the analysis of the stiffness and damping characteristics and the function analysis for validation can be performed with the method presented.更多还原