showed that for structures which have been developed, , that is, the frames can be considered absolutely rigid. where k4 is a coefficient defined by the correlation of the rigidities of the clamp and the frame. The rigidity of the clamps, as a rule, is substantially less than the rigidity of the frame, primarily due to the choice of springs in the passive clamp; thus, it can be assumed that . The springs of the passive clamps also provide regulated force of tightening and the operation of several locks from one drive. The indicated correlation of rigidities of the clamps and frame minimizes the dynamic component in sign-variable loading of the joint. This, in particular, has a favorable effect on fatigue resistance and the reliability of the parts of the docking frame locks. The course of active clamps (Figure 3.3) is designed so that the worst combination of tolerances of size affecting the relative position of pairs of clamps in linkage when there is a possible scatter of their rigidities and the maximum nonplanar nature of the joint provides, first, the entry of the active clamp into linkage with the passive clamp; second, their tightening to the given force. Thus, where is the maximum aperture in the joint; is the additional course due to the slanted profile of the contacting surfaces of the clamps; and deformations of the active and passive clamps when the minimal given force is attained. The course of the active clamp for the mechanism with an eccentric shaft is equal to twice the eccentricity (where is the tolerance). Thus, linkage requires (see Figure 3.3) the total protrusion of the active and passive clamps from
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