[48]. This primarily required a substantial reduction of the longitudinal size of the mechanism. A critical analysis showed that it was expedient to introduce fundamental changes in the docking mechanism, and these changes were guided by the following basic concepts: 1. A scheme was used in which the working moving element of the longitudinal shock absorber (the head with a small screw) moved relative to the main rod, changing the increased length of the docking mechanism. It was expedient to use a moving rod for shock absorption. 2. The position of the equalizing lever mechanism of the rod also lead to an increase in the length of the docking mechanism. It was more reasonable to place this mechanism on the hull of the docking mechanism, although this complicated the kinematics. 3. Experimental and theoretical study detected a number of drawbacks in the shock absorption system (see Chapter 5). In particular, the elements of the longitudinal shock absorber had low characteristics, and high coefficient of energy return on exit. Without lateral shock absorbers the system was insufficiently damped and used a great deal of energy. The need to reduce the length of the rod in the new docking mechanism aggravated this problem. 4. The mechanism of the latches, which gradually shifted, was noted for significant friction during linkage and unlinking. The work of the latches was made more difficult by their structural connection with the linkage sensors in the head and in the socket of the receiving cone. Experience prompted the use of rotating latches with division of the functions of individual elements. 5. Also noted for complex interaction was the mechanism to separate the spacecraft and the contraction of the latches using the shock absorption springs. Moreover, unlinking was not provided by the coupled or intermediate position of the rod. The new task required a simpler construction which provided flexible functioning. During the study and subsequent planning of the new docking mechanism, the general theory of shock absorption systems, which was developed at this time, was widely used. This made it possible not only to substantially improve the characteristics of the shock absorption system, but also to choose more reasonable parameters for the docking device as a whole. Primarily, it was possible to increase
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