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31. Natural frequency in X direction Fig. 32. Natural frequency in Y direction Hardware-In-the Loop Simulation System Construction for Spacecraft On-orbit Docking Dynamics, Ideas, Procedural and Validation 25 Fig. 33. Natural frequency in Z direction Fig. 34. Natural frequency in roll Fig. 35. Natural frequency in yaw Fig. 36. Natural frequency in pitch The validation model which can be simulated with the HIL simulation system is the simplified model of the simulated object system. The similarity between key parameters of the collision created by the hardwares of HIL simulation system and by the validation 26 Advances in Spacecraft Technologies model can be used to check the dynamic characteristics of the closed-loop HIL simulation system.

70-74 (in Chinese) Zhang, S. Y. (2006). Research on force control of hydraulic driven 6-DOF parallel robot. Ph. D. thesis. Harbin, China: Harbin Institute of Technology, Apr. 6-7 (in Chinese) Zhao, H. & Zhang, S. Y. (2008). Stability analysis of the whole dynamics simulation system of space docking. J. of Wuhan Uni. of Sci. & Tech. 87-97( in Chinese) Zhao, Y; Tian, H. & Wang, Q. S. (2007). Analysis of dynamometry scheme for semi-physical simulation platform of space docking mechanism. Advances in Engineering Software.

Tesar, D. (1989). Modelling and Simulation of a Stewart Platform Type Parallel Structure Robot. 1-151 Merlet, J. P. (2000). Parallel robots. Dordrecht: Kluwer Academic Publishers, 2000. E. (1967). Hydraulic control systems. ; Wu, X. & Dougal, R. (2005). Interface issues in Hardware-in-the-Loop simulation. Proceedings of the 2005 IEEE Ship Technologies Symposium, Jul. 39-45 Office of Naval Research's Best Manufacturing Practices. (1999). Report of survey conducted at NASA Marshall Space Flight Center.

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