Abstract: A power controller of a linear actuator 10 in a docking device 1 including a six-axis parallel link mechanism 5, wherein a motor driver 11 configured to control rotation speed of a motor M of the linear actuator 10 on the basis of a load produced on the link 4 includes a speed controlling unit 31 that outputs a current command, a current controlling unit 32 that converts the current command to a voltage command, and a current command limiter 33 that limits the current command of the speed controlling unit 31 so that power consumption per one linear actuator 10 is one sixth or less of the power supply capacity for the motor power, thus allowing for mounting the docking device 1 even for a spacecraft with a small power supply capacity, without requiring modification of the power supply capacity.

Abstract: A docking device including: a base ring disposed in a first space vehicle; a first-side capturing ring for coming into contact with the second space vehicle; six links that constitute a parallel link mechanism for coupling the base ring to the first-side capturing ring; and linear actuators, each of which extends and contracts the link by using a motor as a driving source, wherein resistance generation mechanisms, each of which generates a regenerative current in the motor of the linear actuator to produce resistance force when the second space vehicle comes into contact with the first-side capturing ring and the link receives a compressive load, are provided. Correction of misalignment with the second space vehicle, and attenuation of inertia force that the second space vehicle has can be performed without requiring complicated electrical control, and simplification and cost reduction of an electrical system can be implemented.

Abstract: A docking device including: a base ring disposed in a first space vehicle; a first-side capturing ring for coming into contact with the second space vehicle; six links that constitute a parallel link mechanism for coupling the base ring to the first-side capturing ring; and linear actuators, each of which extends and contracts the link by using a motor as a driving source, wherein resistance generation mechanisms, each of which generates a regenerative current in the motor of the linear actuator to produce resistance force when the second space vehicle comes into contact with the first-side capturing ring and the link receives a compressive load, are provided. Correction of misalignment with the second space vehicle, and attenuation of inertia force that the second space vehicle has can be performed without requiring complicated electrical control, and simplification and cost reduction of an electrical system can be implemented.