Design and test of a semiandrogynous docking mechanism for small satellites

This paper presents the mechanism design and analysis, focusing on the port kinematics and on the load transmission during its actuation and docking procedures. Experimental verification allows us to validate numerical simulations and determine the operative range of the port in terms of alignment ranges allowing the solid joint creation. Transmitted loads always under 3 N are shown during the docking transient, while the port displays to manage misalignments up to 5° and 15 mm.