Docking and retrieval mechanism

An engineering prototype docking and retrieval mechanism (DRM) is described which enables two spacecraft to dock and be structurally joined on-orbit. The joining of two spacecraft or payloads on-orbit supports future planned space activities such as payload servicing, deployment and retrieval, and assembly of large space systems. The DRM, as developed, provides advantages over prior approaches because it is a nonimpact docking mechanism, does not require impact absorbing mechanisms or attitude stabilization on the target spacecraft, is capable of docking to a spinning spacecraft, and can spin up and deploy a spinning spacecraft or payload.