A docking structure system configured to be connected to and associated with a servicer spacecraft for the purpose of approaching and connecting to a client spacecraft including docking devices, comprising: - a deployable 6 degree of freedom parallel manipulator comprising linear actuators, with its base configured to be secured on the servicer chassis, further comprising an end effector plate holding a retractable and extendable telescopic rod means, said telescopic means further carrying a capturing pincher, there being at least one motorized digit on the pincher that can operate and secure a holding on a protruding element of the client spacecraft, - at least one single- degree- of- freedom motorized clamp, mounted on the end-effector plate of said parallel manipulator of said servicer spacecraft, whereby the clamp is tailored to clamp on the specific shape of the protruding element of the client spacecraft once the said telescopic means is retracted and the said end-effector plate is brought at the vicinity of the said protruding element, - at least two additional, extendable and /or articulated, motorized arms of a single degree of freedom each, that are configured to be deployed from the servicer spacecraft and to reach on the client spacecraft, on a protruding element of the said client spacecraft, wherein the free extremities of the motorized arms have one simple one- degree- of- freedom clamping device each, tailored for capturing a protruding profile element of the client spacecraft, whereby the capturing positions of the said extendable and/or articulated motorized arms are roughly equally spaced with respect to the capturing position of the initial said motorized clamp, in a way that the three capturing locations of the servicer spacecraft on the client form a roughly equilateral triangle. - a deployable 6 degree of freedom parallel manipulator comprising linear actuators, with its base configured to be secured on the servicer chassis, further comprising an end effector plate holding a retractable and extendable telescopic rod means, said telescopic means further carrying a capturing pincher, there being at least one motorized digit on the pincher that can operate and secure a holding on a protruding element of the client spacecraft, - at least one single- degree- of- freedom motorized clamp, mounted on the end-effector plate of said parallel manipulator of said servicer spacecraft, whereby the clamp is tailored to clamp on the specific shape of the protruding element of the client spacecraft once the said telescopic means is retracted and the said end-effector plate is brought at the vicinity of the said protruding element, - at least two additional, extendable and /or articulated, motorized arms of a single degree of freedom each, that are configured to be deployed from the servicer spacecraft and to reach on the client spacecraft, on a protruding element of the said client spacecraft, wherein the free extremities of the motorized arms have one simple one- degree- of- freedom clamping device each, tailored for capturing a protruding profile element of the client spacecraft, whereby the capturing positions of the said extendable and/or articulated motorized arms are roughly equally spaced with respect to the capturing position of the initial said motorized clamp, in a way that the three capturing locations of the servicer spacecraft on the client form a roughly equilateral triangle.