For a particular structure satellite,under the proposed requirements of on- orbit service task technical,a kind of docking device based on CAM curve mechanism and linkage mechanism is introduced,which can achieve the special docking technology requirement of the target satellite docking ring. And the device is mature structure,large clamping force and smooth movement. Based on the mathematical model of docking device cam curve follower and 3D entity model,the motion law of mathematical model and 3D model are respectively solved and simulated by Matlab and ADAMS software. Then comparing the docking device theory and simulation of motion data to verify the docking device could complete the design of the goal.