docked spacecraft. Also in use are combined methods of modeling, so called hybrid test units, which use computers and heavy-duty servo drives to recreate the relative movement of the tested assemblies in docking. Issues are examined regarding the theory and planning of test units, and a comparative analysis is made. Chapter 1. Docking Equipment of Spacecraft 1.1 Basic Terminology Spacecraft controlled by an orientation and approach system are brought into contact with a specific speed and position (initial conditions). At this moment the docking process begins, which ends with rigid connection. After flight in a docked state is completed, undocking is done by releasing the mechanical connections and separating the spacecraft. In manned flights, as a rule, there is a hermetic connection, with the formation of a transition tunnel. The spacecraft are linked by two docking assemblies which are installed on the spacecraft. The two matching (made for each other) assemblies are called docking devices. The docking assembly, in addition to docking with the matching assembly, may also dock with another craft which differs substantially in structure but is compatible with it. The docking device is usually designed so that all docking and undocking operations are carried out by one assembly, called the active assembly; the second assembly is passive. An assembly which may be active or passive is called androgynous. An androgynous assembly matches an identical docking assembly, that is it can dock with itself; it may also be compatible with another active or passive assembly. Tn contrast to direct docking using a docking device, spacecraft may be docked using an intermediate mechanism, a manipulator, which makes the initial mechanical capture of the spacecraft, and is the analog of the links of the docking mechanism.
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