A compliant force control strategy is developed based on the inner loop position control of 6-dof parallel robot in order to simulate the push and pull process of forcible alignment in space docking.

为模拟空间对接强制校正阶段的推出和拉近过程，提出基于6自由度并联机器人位置内环的柔顺力控制策略。

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In this paper, the three-body force-element dynamic model of androgynous peripheral docking mechanism with inner guide petals is proposed.

以有内导向瓣异体同构周边式对接机构为研究对象，从机构的物理模型出发建立了对接捕获阶段的三体力元模型。

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