The maximum linear and angular velocities of the spacecraft, their inertial and their geometric characteristics determine the energy capacity of the docking mechanism shock absorbers. In the approach the spacecraft transfer a certain longitudinal (along the x axis) approach velocity since there must be a certain amount of energy for the latch to work and make the link. Moreover, before the link part of the energy is lost in collisions. Due to the error at the moment of the link, the approach velocity of the spacecraft decreases in comparison with the initial velocity. There is a lower limit of the longitudinal velocity guaranteeing linkage. The possible scatter gives a maximum value of the longitudinal velocity which defines the maximum energy of collision of the spacecraft. To facilitate linkage and decrease the lower limit of velocity the engines of the jet control system are used in the direction of the longitudinal axis x. During docking, after contact, the control systems of the spacecraft may make coupling more difficult. After the linkage, the action of the working control systems may increase the energy of relative motion absorbed by the shock absorbers, and create a disturbance in the coupling process. Thus, after linkage, the control systems are usually shut off, or their work mode is changed. If they remain switched on, their action should be considered in the planning, analysis, and testing of the docking device. Tn principle, this control is possible for one or both docked spacecraft. Tn this case, loads and relative displacements are decreased. In docking using a universal manipulator, “hovering” of the spacecraft very close to each other (about 5-10 m apart) is provided for. The velocities of the gradual shift should be maintained with a substantially larger accuracy than in direct docking. Moreover, small forces developed by the manipulator cause additional limitations on the relative velocities during capture. 1.5. Docking Devices and their Features 1.5.1. Docking Device of the Soyuz Spacecraft This device (Figure 1.7) was the first domestic design tested in orbit. This docking device was used on October 30, 1967 to make the first automatic docking of the unmanned Kosmos-186 and Kosmos-188 spacecraft. The active and
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