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. <EOS>