compensation for error, linkage, equalization and coupling, to the contact of the docking frames. After the formation of a secondary mechanical connection during docking and during undocking, uncoupling is done. The docking frames of the two assemblies are joined by locks installed on them. The frames also have other elements which provide for connection, hetmetization, and undocking. These basic groups of mechanisms carry out operations on the direct mechanical union of spacecraft and undocking. Tn addition, the docking assembly, as a rule, includes units and elements which are intended for additional operations, which are, to a greater or lesser extent, associated with docking and undocking. This includes the hatches of the transition tunnel with mechanisms for opening and hermetization; elements of the system to pressurize the tunnel, verification of the hermeticity of the joint, and depressurization; attachments for carrying out manual operations, and electrical, pneumatic, and water connections. The docking mechanism and the mechanisms of the docking frame have essential features in their design as well as in their manufacturing technology, and they require different testing methods and equipment. Thus, this division is not formal, but provides for a certain organization of planning, production, and testing. Usually the docking mechanism is divided into a structurally and technologically complete assembly. 1.3. Docking System The majority of docking and undocking operations are performed using electrical, hydraulic, or pneumatic drives. For single operations, pyrotechnics are frequently used. The drives are turned on and off by commands from the control panels of the spacecraft, from automatic control systems of the spacecraft, or from Earth. For automatic actuation of the drive, end switches are provided, and in a number of cases these are electromechanical sensors located on moving elements of the mechanisms, for example, contact sensors on the joint, etc. These sensors are also used to automatically control docking. They are needed to monitor the execution of operations in docking and undocking, to monitor the position of mechanisms, and the state of the structure. This monitoring is done by cosmonauts and specialists at the Flight Control Center.
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