(three brakes, spring mechanisms, misalignment sensor) were installed on the ring with guides. The element which absorbs the majority of the energy (in longitudinal displacement of the ring) is the friction brake, which is also used as before as a protective coupling of the drive. The docking mechanism is equipped with six telemetry potentiometers, three linked to the screws and the remainder linked to three pairs of nuts of the bearing-screw converters. On the face of the ring are three linkage sensors which are activated when the rings align. The coaxiality of the frame and the ring in its fully retracted position, that is, in the passive state of the APDA, is insured by three guide rods which enter matching sockets on the rear face of the ring. The schematic of the docking mechanism described above, with differential connections between the rods, has the following characteristics: 1. the ring can move with five degrees of freedom over a wide range when small forces are applied. Due to the differential connections the center of the ring does not approach the frame (strictly speaking, at small deviations). 2. The longitudinal shifting of the ring occurs at relatively large forces, arising usually after linkage. As a result a small value of displacement is reached during shock absorption. 3. Retraction and advancement of the ring is done by the docking mechanism drive. When the frames are coupled in two extreme positions there is a uniform load on all screws. 4. Necessary equalization of the ring may be done with the docking mechanism drive (during partial jamming of individual elements). The ring is advanced to an extreme forward position until all six screws reach symmetrical mechanical supports. 5. When the catches are activated significant displacements of the ring from its equalized position are eliminated, and the misalignment sensors provide remote control of this position. Linkage of the APDAs is done with three pairs of latches on the ring, which interact with three matching catches on the hull. During linkage the latches in each pair act independently, which insures redundancy of this operation. During
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