joint. Moreover, in peripheral docking devices functional redundancy is possible by using the primary mechanical connection, which may prevent catastrophically rapid separation of the joint in a full or partial breakdown or opening of the main locks of the docking frame. 2. Redundancy in the lock system of the docking frame should consider the reliability of execution of all three functions: docking, maintenance of the docked state, and undocking. Redundancy of means to prevent random separation of the joint, as a rule, decreases the reliability of undocking, and failure in the execution of this function is also a category H or even I failure. Tn created docking devices it is possible to connect three mechanical connections (one primary and two secondary). The means of separating all the connections are usually constructed so that they are duplicated on the active docking assembly, and the third set of separation mechanisms are on the passive assembly (the Soyuz-Salyut docking device), that is, in total complexity one can provide nine sets of separation mechanisms. This construction, which is in principle reliable and flexible to control, does not Tully exclude failures in the separation of the joint, for example, when there is significant adhesion in the joint or jamming of the guide rods and other elements. Functional redundancy in this case is the use of the docking mechanism drive or pressure in the tunnel to separate the spacecraft, ft is also possible to use individual redundant elements to separate the elements which may prevent undocking. An example of completely independent redundancy is the possibility of separating the orbital compartment from the descent vehicle of the Soyuz T spacecraft, which in normal flight is done before the descent to Earth begins. Naturally, the docking assembly on the station becomes unsuitable for subsequent use. 3. Many, but far from all problems in redundancy require the use of androgynous docking devices. This docking device retains potential failures associated with the disintegration of the integrity of the joint and failures during undocking. The following failures may prevent its use in the active or passive state: 1) irreversible stoppage of the drive of the docking mechanism in the extended or intermediate position of the ring with guides; 2) jamming of some element or other reason which prevents the alignment of surfaces during linkage; 3) jamming of some element or another reasons which prevents the alignment of the
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