regular flight program; the second docking in lunar orbit proceeded normally. Nonetheless, the docking mechanism was returned to Farth, and analysis showed that the most probable cause for the failure was the obstruction of the closing pin of the latch [43]. Tn discussion of the principal schemes of the APDAs we examined a principal scheme with latches which closed on an electronic linkage signal. Based on the analysis, and considering the experience of flight testing a construction was developed with independent uncontrolled latches. To release the latches during linkage, electrical drives, electromagnets, and mechanisms with a manual drive are used. Disengagement of the latches can be done by moving the rod (Soyuz docking device); however, as practice has show, this scheme is not efficient; it complicates the work of the mechanisms, and disengagement is impossible with the rod of the docking mechanism in a random position. The docking mechanism, as a rule, contains sensors which signal contact and linkage, the movement of the rod, equalization, etc. The passive part of the docking mechanism contains guide elements (for example, the receiving cone); the matching catches, which are frequently equipped with mechanisms (drive or pyrotechnic) to disengage from the passive side, as well as linkage sensors used to switch on the docking device, for signaling, etc. It is expedient to examine the possibility of direct docking of the docking frames. The need for docking mechanisms is due to the relatively wide range of initial docking conditions provided by the approach systems of the spacecraft. Analysis indicates the following. For a significant reduction of the range of initial conditions (maximum displacement no greater than 2-3 cm, and velocities of 3-5 cm/s) it is possible to create a docking device in which the function of the “degenerated” docking mechanism (shock absorption of impacts with residual speeds, linkage and equalization) may be done by elements located directly on the docking frames, for example, push rods and guide rods equipped with the appropriate mechanisms. 2.5.3. Joint Connectors and Other Additional Flements FJectrical and hydraulic connectors are usually installed on the docking
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