中文摘要：

弱撞击对接机构（Low impact docking mechanism,LIDM）的力雅可比矩阵包含了驱动臂与负载传感环力和力矩的传递关系信息。然而,力和力矩具有不同的量纲,将雅可比矩阵分解为两个分别与力和力矩传递相关的子矩阵,在两个子矩阵的基础上,分别推导出力和力矩传递关系的数学模型,并通过计算工作空间内力和力矩传递能力的分布规律,研究LIDM力和力矩的传递性能。分析结果表明,对接机构的结构构型确定后,力和力矩传递性能呈椭球体分布,并随负载传感环沿不同路径移动,呈现不同的规律。研究结果对以LIDM为代表的空间对接机构的结构性能评价及优化具有重要的工程意义。

英文摘要：

The Jacobian matrix of the low impact docking mechanism （LIDM） contains relationship information between the actuators and the load sensing ring＇s forces and torques. However, forces and torques have different dimensions. The Jacobian matrix is decomposed into two sub-matrixes, that are related to force and torque transmission respectively. Based on the two sub-matrixes, the mathematical models of force and torque transmissibility can be developed. And some mechanical properties about force and torque transmission of LIDM can be analyzed by calculating the distribution of force and torque transmissibility within work space. The analyses show that the distribution of force and torque transmissibility is ellipsoid after the structural configuration of docking mechanism is determined, showing different laws with load sensing ring during moving along different paths. Further, the results of the study are important to the performance estimation and optimization about structural properties of the docking mechanism which is represented by LIDM.