passive docking assemblies were installed on the manned Soyuz-4 and Soyuz-5 spacecraft, and they were docked. The docking device did not provide for the formation of a hermetic transition tunnel; thus, cosmonauts A. S. Yeliseyev and Ye. V. Khrunov moved from one ship to the other through open space. Figure 1.7. Soyuz docking device. 1. active docking assembly; 2. socket; 3. docking mechanism; 4. guide rod; 5. passive docking assembly; 6. receiving cone; 7. socket; 8. grooves for latches; 9. electrical connections. The Soyuz docking device was designed in the form of an electromechanical structure [49], and laid the foundation for a purely electromechanical trend in the construction of docking devices. A number of design, construction, and testing problems were resolved. For the first time electromechanical damping was used [48] in heavy-duty shock absorbers. Overall, the development and use of this docking device was an important step in the creation of docking equipment. The Soyuz docking device was intended for: 1) multiple docking of a spacecraft for the initial conditions given in Table 1.1, with the formation of an accurate union of docking frames; 2) the connection of the electronic connectors to form inter-ship communications; 3) multiple undocking; 4) back-up undocking by firing of the docking mechanisms and the supports of the socket in the passive docking assembly. The docking device consists of active and passive assemblies. Tn the center of the active assembly is a docking mechanism with a rod, which is placed in the receiving cone of the passive assembly during docking. The docking frames of the assemblies have guide rods (passive) and matching sockets (active), plugs and sockets of the electric connector and docking compatibility sensors.
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