Contact analysis of flexible beam during space docking process

•The flexible docking dynamical model is studied using Lagrange analytical method.•The modal equation of flexible rod is derived.•Normal and tangential models of impact contact are built.•The elliptical contact and the effect of beam flexibility are discussed.•The theoretical conclusions are verified by ground-based docking experiments.

This paper mainly focuses on the impact contact problem during docking process of flexible probe. The docking dynamic model based on flexible probe is developed with the help of Lagrange analytical method. The modal equation of flexible rod is derived with the effect of the rigid counterweight considered. The contact models of docking impact in both normal and tangential directions are presented in detail. The time history of impact contact force, the shape and size of contact area, the distribution of contact stress and local deformation, and the effect of structural flexibility to the contact surface are discussed based on the theoretical model. Moreover, the ground-based docking impact experiment is conducted to verify the theoretical results.