In this paper, mathematical models are formulated, based on treating the differential damping mechanism as parallel connection of six independent serial chains and establishing local coordinate systems, for solving both the forward and inverse kinematics problem of androgynous peripheral assembly system (APAS). Example is included to demonstrate the application of the model. It is shown that the use of additional joint encoders simplifies the solution of the position kinematics problem, eliminates the coupling among branches and obtains a one-to-one relation between the actuated joint variables and the capture ring configuration.
Qu YL,Zhang CF,Zhao MY. Damping Mechanism for Space Docking and Its Kinematics Analysis[C]. 第六届亚太地区空间技术与应用多边合作会议（6thAPC－MCSTA）. Beijing, China. September 18-21.Damping Mechanism for Space Docking and Its Kinematics Analysis.