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Ye, Z. ; Cong, D. ; Han, J. W. & Li, H. R. (2007). Space docking hybrid simulation prototype experiment system. Chinese Journal of Mechanical Engineering. ; Yang, L. & Qu, G. J. (2004). Dynamics analysis and simulation of spacecraft docking mechanism. 2004, pp. 38-42 (in Chinese) 34 Advances in Spacecraft Technologies Zhang, C. F. (1999). Study on Six-Degree-of-Freedom simulation for docking. 1, Jan. 70-74 (in Chinese) Zhang, S. Y. (2006). Research on force control of hydraulic driven 6-DOF parallel robot.

Research on force control of hydraulic driven 6-DOF parallel robot. Ph. D. thesis. Harbin, China: Harbin Institute of Technology, Apr. 6-7 (in Chinese) Zhao, H. & Zhang, S. Y. (2008). Stability analysis of the whole dynamics simulation system of space docking. J. of Wuhan Uni. of Sci. & Tech. 87-97( in Chinese) Zhao, Y; Tian, H. & Wang, Q. S. (2007). Analysis of dynamometry scheme for semi-physical simulation platform of space docking mechanism. Advances in Engineering Software. U. 1. Introduction Harnessing the power of the Sun to propel a spacecraft may appear somewhat ambitious and the observation that light exerts a force contradicts everyday experiences.

1 Actual HIL simulation system for spacecraft on-orbit docking dynamics Since the simulated system is segmented in two parts, and they all take part into the HIL simulation system in different forms. The actual docking mechanisms are the hardwares Hardware-In-the Loop Simulation System Construction for Spacecraft On-orbit Docking Dynamics, Ideas, Procedural and Validation 21 under test. The mathematic model of the real-time simulation is established with the spacecraft bodies, it can be described by Figure 27.

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