TABLE OF CONTENTS Foreword........................................................ 1 Introduction.....................................................2 CHAPTER 1. DOCKING EQUIPMENT OF SPACECRAFT........................... 7 1.1. Basic Terminology.......................................7 1.2. Requirements, Functions, and Operations Structure of the Docking Device...................... 8 1.3. Docking System........................................ 10 1.4. Initial Docking Conditions.............................. 13 1.5. Docking Devices and their Functions.......................19 CHAPTER 2. PRINCIPAL CONSTRUCTION SCHEMES FOR DOCKING DEVICES..... 61 2.1. Classification of Docking Devices.........................61 2.2. General Issues........................................ 62 2.3. Issues Regarding the Reliability of Docking Devices......... 65 2.4. Provision of Compatibility and Androgyny...................73 2.5. Basic Groups of Mechanisms and Elements of the Docking Device.......................................... 76 2.6. "Rod and Cone" Type Docking Devices.......................82 2.7. Peripheral Docking Devices.............................. 86 2.8. Comparative Analysis of the Principle Schemes of Docking Mechanisms.......................................92 2.9. Redundancy in the Principal Schemes.......................95 CHAPTER 3. ISSUES CONCERNING THE CONSTRUCTION OF DOCKING DEVICES........99 3.1. Requirements of the Construction of Docking Devices General Design Considerations....................... 99 3.2. General Configuration. Hulls of the Docking Assemblies......103 3.3. The Locks of Docking Frames.............................104 3.4. Construction of the Docking Mechanisms................... 114 3.5. Basic Elements of the Docking Device..................... 127 3.6. Seals of Hermetic Constructions......................... 145 3.7. Lubricant Materials in Docking Devices................... 149 3.8. Provision of the Temperature Conditions of Docking Assemblies.......................................... .150 CHAPTER 4. DYNAMICS OF DOCKING................................... 153 4.1. The Tasks and Varieties of Mathematical Models.............153 4.2. Structures of Models, Assumptions, Systems of Coordinates......................................... 155 4.3. Models for the "Rod and Cone" Docking Device.............. 157 4.4. Mathematical Models for Peripheral Devices................ 166 4.5. Model Considering the Inertia of the Shock Absorbers........177
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