Figure 7.9. Variant of the test unit for testing of the Apollo spacecraft docking device. 1. drive of longitudinal displacement; 2. drives of roll rotation; 3. docking mechanism; 4. receiving cone; 5. drives of transverse displacement; 6. yaw rotation drive; 7. pitch rotation drive; 8. transverse displacement drive (along axis z). elements; however, it has many advantages, and the main ones are: reproduction of relative motion in weightlessness with six degrees of freedom; absence of limitations on dimension and inertial parameters of spacecraft; simplicity of modeling the parameters of the spacecraft in a virtually unlimited range by changing the coefficient of equations solved by the computer; reproduction of the effects of the control systems of the docked spacecraft; potential for considering such characteristics of elasticity of construction, liquid filling, etc.; ability to test in a wide range of temperatures. The hybrid complex test unit consists of a number of complex technical systems, for example, powerful electro-hydraulic tracking drives, which have high dynamic characteristics and a course of the working cylinder of about 2 m. As testing of the APDA has shown, to reproduce the real process of interaction in
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