and other deformations, one of the sockets is lengthened in the radial direction or one rod is mobile. When a scheme with two rods is used, it is possible to disrupt the concentricity of the docking frames. The displacement of the geometric centers f is defined as the difference of the diameters of circumference on which the rods and sockets are located e = (d2 — d2)/2. The value e is reliably small, and does not exceed 1-1.5 mm. These displacements are usually acceptable since they do not disrupt the interaction of other elements of the frames (the connectors, seals, etc.) Principally free of this drawback is the scheme with three rods on one frame and radially lengthened sockets on the other; however, this scheme is not androgynous. For androgynous docking devices one can use a scheme with four rods and four lengthened sockets. The docking frames are equipped with spring push rods. Their strength and course are selected to produce the required full separation of all elements and a certain relative velocity to the spacecraft. The configuration of mechanisms of the docking frame may have a substantial effect on the presence of the electrical and hydraulic connectors of the joint and other additional elements of the docking device. 2.5.2. Docking Mechanisms The docking mechanism is a functionally and structurally more complex part of the docking device; thus, its principal schemes are more varied and depend substantially on the type of device. Nonetheless, the complement of basic elements of the docking mechanism, as a rule, is the same: buffer and guide elements, shock absorbers, buffer drive, latches with a disengagement mechanism, equalization mechanism. The configuration of the docking mechanism and the matching of the passive part, its buffer, guide elements and surfaces (the rod and receiving cone, ring with guide protrusions) to a great extent define the process of linkage and equalization. The main principal scheme of the docking mechanism is the shock absorptiondrive and equalization system of interacting mechanisms. To provide linkage at relative linear and angular displacements of the spacecraft and for shock absorption
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