The rod was erected after the spacecraft was injected into orbit. The docking cycle was carried out automatically. Each latch was equipped with a sensor with a microswitch. The sensor was activated during linkage of the latch with the matching catch on the spacecraft. When all three latches were activated the signal was sent to turn on the coupling drive. The cycle of undocking was semi-automatic. The command to undock was transmitted on the inter-ship command radio line from the Gemini to the Agena rocket stage. On command both drives were activated simultaneously, to advance the latches and release them. After they are fully advanced the first drive is shut off. The drive to release the latches is equipped with a protective coupling. While the force of coupling is applied to the latch, the drive operates on the protective coupling. After the load is removed the latches are released, and the drive moves to the mechanical support and continues to work due to slippage of the coupling until the signal is received that the catches of the Gemini have left the receiving cone. The signal is transmitted by three sensors located on the latches. When this signal is received the drive to release the latches reverses to ready the docking assembly for a second docking. It was impossible to redock the Gemini once the undocking pyrotechnics were used. 1.5.4. Docking Device for the Apollo Lunar Program The creation of a docking device was preceded by comprehensive work in preliminary development, analysis, and the comparison of various types of designs by NASA specialists. This work revealed a number of advantages and disadvantages in the various designs, and made it possible to reach important conclusions for subsequent development of docking equipment in the USA. For this reason, it merits a more detailed description. Primarily, three types of docking mechanism with a flexible connection were examined. One of them is shown in Figure 1.17. The lengthened rod could be guided manually into the receiving cone located on the lunar module. After linkage, the spacecraft tightened the cable connection until the docking frames touched.
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