Table 2.6. Possibility of performing docking when there are docking device failures. 1. Variety of potential failures; 2. types of shock absorption-drive systems*; 3. sequential; 4. parallel; 5. combined; 6. partial jamming of shock absorbers; 7. complete jamming of shock absorbers; 8. longitudinal; 9. lateral and angular; 10. partial jamming of drive; 11. complete jamming of drive; 12. * | can be completed; -j-/ — possible; — impossible. of the advantages of the combined scheme in peripheral docking devices. A docking mechanism constructed according to this principal scheme corresponds to the task to be performed, and executes basic functions as well: extension and retraction of the ring, mobility during shock absorption, equalization, and fixation and signaling. Its use makes it possible to obtain the required characteristics of basic elements and functional redundancy in executing a number of operations. The extension of the ring with guides in the combined docking mechanism with differential connections is done by a drive; thus, this operation can be done with the ring in a fixed position, which excludes the possibility of warping. For comparison we note that in the parallel scheme with cable connections of the ring with the docking mechanism drive, extension is done by the springs of the shock absorbers; the force of the springs at the end of the course should be minimal; the springs overcome the friction of hydraulic dampers, including the friction in the seals. Due to the differential connections in the combined docking mechanisms, small forces are provided during the shifting of the ring with five degrees of freedom.
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