Figure 1.28. Kinematic schematic of the Soyuz APDA docking mechanism. 1. differential connection of rod (^1); 2. spring mechanism of rod connection; 3. misalignment catch; 4. misalignment detector; 5. electromagnetic brake; 6. screw; 7. bearing-screw converter; 8. potentiometer; 9. gear of the screw connection; 10. spring mechanism of the screws; 11. screw potentiometer; 12. sensor for the misalignment of screws; 13. screw catch; 14. friction self-adjusting brake; 15. drive, a. to second pair of rods; b. to third pair of rods. this waisting provides for stable equalization of the ring. In the equalized position the ring can be fixed by electromagnetic catches. This is usually done during retraction and advancement of the ring by the docking mechanism drive. There are five position equalization contact sensors which are activated when the ring deviates from the appropriate coordinate. The sensors are used for control and signaling. The displacements of the ring during shock absorption of the collision of the spacecraft are damped by the electromechanical brake. During testing six brakes were used to damp deviations in all six degrees of freedom. According to the results of the first test stage, three brakes associated with the three pairs of nuts were removed (see section 5.6.3). All elements associated with the rotating screws
RkJQdWJsaXNoZXIy MTU5NjU0Mg==