Abstract: The primary assemblies of the Androgynous Peripheral Attachment System(APAS) are introduced and the main subassemblies of the differential electro-mechanical attenuation mechanism inAPAS are kinematically modeled and mathematically analyzed. Some different phases in space docking process are shown and described. The operationmode of the differential electro-mechanical attenuation mechanism in capture and attenuation phase isrepresented in detail, which is the foundation of thedocking mechanism analysis and ...