Chapter 2. Principal Construction Schemes for Docking Devices The experience and information accumulated in the first fifteen years of the development of docking equipment makes it possible to introduce a classification for docking devices, to analyze the structure of docking devices, the principles of construction of the chief mechanisms, and the selection of basic parameters. The results make possible a more valid approach to the choice and development of new docking devices, and the analysis of variants. These results make it possible to create a basis for the analysis of the most important characteristics of docking devices: reliability and the mass of the structure. Overall, this approach makes it possible to create scientific bases for docking equipment. The material of this chapter is based on an analysis of factual material presented in the previous chapter, and on the use of the experience obtained in the process of developing, testing, and using docking devices. 2.1. Classification of Docking Devices Docking devices may be classified in various ways: by the tasks to be performed in docking, requirements on the joint, properties of the principal construction scheme and configuration, or character of the primary mechanical link between the spacecraft. A docking device may join spacecraft to execute joint flight, for example, the docking of two rocket stages, a rocket stage and a spacecraft, or an unmanned spacecraft. A docking device may unite two spacecraft or a spacecraft with an orbital station, with the formation of a hermetic transition tunnel. Various tasks impose specific requirements on the construction of the docking device. When one task or another is carried out, different requirements may be placed on the joint, in terms of accuracy and rigidity. Thus, the devices are divided into the following types: 1) with an accurate and rigid joint; 2) with a nonrigid connection with large acceptable displacements in various coordinates; 3) intermediate types. A great deal of the tasks executed as the result of docking require an accurate and rigid joint, and in manned flights, the formation of a
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