of initial conditions of docking and the base size have a great effect on the geometric and weight characteristics of peripheral devices. In principle, two locks are sufficient to link the rings with guides. However, when the ring is installed on three pairs of rods, a heavy-duty design docking mechanism with three latches is more reasonable (see section 6.2.3). To make it possible to separate the spacecraft when there is incomplete alignment of the rings of the active and passive assemblies, the latch design is such that incomplete linkage by one or two latches is excluded. Consequently, in undocking, it is sufficient to release two or even one of the three latches. 2.7.3. Characteristics of Signaling and Control The configuration of the ring with guide protrusions, the greater number of combinations of elements during contact have complicated the system of spacecraft contact and linkage sensors. On the other hand, for peripheral devices it is more important than in “rod and cone" devices for the jet control system engines to perform the linkage. It is also desirable to have information on the equalized state of the ring in the extended position before docking and during coupling, especially for alignment of the docking frames. Contact is virtually always accompanied by the deviation of the ring with guides from the equalized position. Thus, it is reasonable to use information on the equalized state of the ring. If one does not consider longitudinal displacements, the ring has five degrees of freedom of deviation from the equalized position. This same number of sensors is needed in the general case to obtain a signal on the displacement of the ring. Tn a docking mechanism with differential connections of the rod, the installation of these sensors is simple. It is more complex to install sensors in docking mechanisms with independent shock absorbers. For this reason there were only three sensors in the Apollo APDA; however, deviation of the ring was possible when none of the sensors was activated. Thus, five (or less) sensors, in conjunction with the sensor of the extended state insure signaling on the readiness for docking. Tf five sensors provide signaling on the equalized state during extension and retraction of the ring, monitoring is maintained on the correct course of this stage of docking.
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