hermetic transition tunnel. The majority of the docking devices created to the present time in the USSR and USA create this type of joint. For virtually all docking devices, during docking there is a stage where the spacecraft are linked by a nonrigid primary connection after linkage. This type of docking device connection is divided into two types: 1) with a shock absorbing joint; 2) with a flexible joint. Docking devices of the first type have a shock absorption system which is capable of quenching the energy of the relative motion of the spacecraft; when the second type of docking device is used the relative motion after the formation of a mechanical connection should be monitored by the control system. Up until the present variants of the second type of docking device have been examined in detail in the USA (see section 1.5.3); however, they have not been developed. Fn the process of docking with devices which create an accurate rigid connection, one must first form a preliminary nonrigid connection of the shock absorbing type. Analysis of these structures shows that they may be divided into two large classes having their own construction and functional features. The first class is docking devices with a receiving cone, which interact with a rod installed on another docking assembly; the cone and rod are necessary to absorb the shock of the collision of spacecraft, to compensate for errors and for subsequent equalization. These devices dock according to the principle of alignment of cones, or, simply, they are “rod and cone” devices. The cone is the central part of the docking device, which, as a rule, is a drawback of the design, since it encloses the central part which is used in transport spacecraft for the transition tunnel. Thus, a class of peripheral devices was created which have a free central part. 2.2. General Issues The development of the principal construction scheme includes the determination of the type of docking device, its configuration, composition, structure, and the construction of the basic mechanisms, with a consideration of redundancy. Moreover, issues are examined such as the basic size and basic characteristics, the structure and construction of control. The design which is
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