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According to the requirements of servicing and deorbiting the failure geostationary satellites, the paper presents a universal docking mechanism to capture the international standard interface ring (Marman ring, such as 937B, 1194 and 1194A mechanical interface). The docking mechanism was designed under-actuated, which can realize the process of repeatedly holding, pressing, locking and releasing the failure satellite's interface ring by a single motor. The dynamic model of docking mechanism was established, and the impact force was analyzed in the docking process. A variety of conditions were set for the docking kinematics and dynamics simulation. The simulation results showed that the force translation in the docking phase was stable, and the mechanism design scheme was reasonable and feasible.