Abstract: A connection device for establishing a connection between a vehicle (12) and a fluid or energy distribution system (14) comprises: a main support structure (16); a connector head (18), for releasably connecting to a connection facility (20) on the vehicle; a support beam (22) having a longitudinal axis (24), a front-end supporting the connector head (18) and a rear end; and a support mechanism (26). This support mechanism (26) supports the rear end of the support beam (22) in the main support structure (16), so that the support beam (22) is movable along its longitudinal axis (24) and has two translational degrees of freedom that are perpendicular to its longitudinal axis (24). An articulation (52) with three rotational degrees of freedom is connected between the front-end of the support beam (22) and the connector head (18).