Tn addition to plans, a number of documents were developed to regulate other specifications which would affect the correct interaction of the A PDAs. They included: loads, temperatures, sequence of operations, programs, and results of testing, etc. Successful execution of all of the planned work and the completion of a successful docking in orbit confirmed the correctness and effectiveness of this approach. The main idea in the creation of an androgynous docking device is that these devices make it possible to dock, that is, to provide compatibility, to any two spacecraft equipped with these assemblies. It is possible to achieve androgyny by other methods with different types of docking devices and principles of construction of basic mechanisms. An androgynous assembly such as the docking mechanism and the mechanisms of the docking frame should have these properties. The docking frame of the docking assembly is a stationary part of the structure, thus its androgyny may virtually be attained only by configuration of the joint with all interacting elements located on it. The docking mechanism is the most mobile part, and the properties of the functions it carries out and its position enables one to achieve androgyny by shifting the active and passive parts of the docking mechanism. For example, it is possible to equip the docking assembly with two docking mechanisms, active and passive. Another scheme implemented in the A PDA is the transition of the docking assembly from the active state to the passive by retracting the buffer element of the docking mechanism (the ring with guide protrusions). This scheme also requires a certain configuration of the ring and other interacting elements of the docking mechanism. To define the configuration of interacting elements of the docking frame and the docking mechanism in the creation of a docking device for the Soyuz-Salyut complex, a general principle was formulated called the principle of inverse symmetry. All interacting or interconnecting elements (rod-socket, head-receptacle, protrusion-depression, latch-catch, etc.) are in pairs symmetrical to the so-called axis of inverse symmetry (see Figure 1.12). In docking the axes of both joined docking assemblies align. The principle of inverse symmetry is a general universal rule for insuring androgyny.
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