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研究了用于空间飞行器对接机构的差动式机电缓冲阻尼系统的动力学。提出了一种关于此类６自由度的串、并联复合系统的动力学分析方法。应用Ｌａｇｒａｎｇｅ分析技术推导出了系统动力学方程，给出了相应的系统约束方程，并对系统中多部位的库仑摩擦阻尼进行了处理和实例计算分析。结论表明该方法可进行差动式机电缓冲阻尼系统的动力学分析、系统刚度和阻尼特性分析以及系统功能校核分析。
The dynamics of a differential electro-mechanical damping system used in a spacecraft docking system is studied. A dynamic analysis method of the six-DOF serial-parallel combination system is proposed. The system dynamic equations are deduced by using Lagrange analysis technique. The corresponding system constraint equations are given. The Coulomb friction damping of multi-site in the system is also dealt with and calculated by examples. The conclusion shows that this method can be used to analyze the dynamics of differential electromechanical cushioning damping system, analysis of system stiffness and damping characteristics and system function checking.