Figure 1.27. Kinematic schematic of the docking mechanism of the scale model of the Soyuz APDA. 1. basic differential connection of the pair of rods (J(); 2. additional differential; 3. spring mechanism; 4. measurement potentiometer; 5. electromagnetic brake; 6. basic differential connection of the rod in the pair; 7. bearing-screw converter; 8. screw; 9. drive; 10. friction self-adjusting brake. Thus, each pair of screws are linked together, which provides a differential property to these connections. As a result, the kinematic circuits operating under displacements in the transverse plane, became independent, significantly reducing the number of individual elements in each group, decreasing friction, and inertia. Using this design, full-scale APDA docking mechanisms were created which successfully underwent all types of Earth testing and later insured reliable docking in space. When the ring deviates from its equalized position, that is coaxial with the docking frame, the position is twisted in five degrees of freedom by five spring mechanisms, which have a significant value of preliminary waisting (see Chapter 2);
RkJQdWJsaXNoZXIy MTU5NjU0Mg==