basic drives are used: 1) drive for the buffer element of the docking mechanism; 2) drive for the latches; 3) drive or the locks of the docking frame. To insure linkage of the docking device there are contact and linkage sensors. Signals from these sensors permit fully automatic control, and monitoring of the process and its parameters. In manned flights, signals from the contact and linkage sensors are displayed on the cosmonaut's control panel. This signaling, as practice has shown, significantly simplifies the action of pilots in manual control. In dockings in the Apollo-Soyuz project, manual actuation of “longitudinal” engines of the jet control system of the Apollo was provided for when the spacecraft touched, shuting them off, the remaining engines were shut off after linkage. The commander of the spacecraft or the pilot of the command module at contact was governed by his sensor perceptions, and the only information on linkage was obtained in the form of the display of the appropriate transparency on the control panel. The first docking on July 17, 1975 was done normally. In the second docking on July 19, 1975, a number of substantial deviations from the normal process occurred. The unexpected actuation of “lateral” engines of the jet control system caused an unrated load on the docking mechanism of the Soyuz. Despite the complications, the docking was completed successfully [25]. 2.6. “Rod and Cone” Type Docking Devices The principal construction scheme of the docking device with a receiving cone inside the docking frame of the passive assembly and a docking mechanism with a rod installed in the central part of the active assembly is naturally and obviously the simplest way to implement docking with the formation of an accurate joint at significant initial displacements. 2.6.1. Docking Mechanisms Linkage, as a rule, should be provided at significant angles between the axes of the spacecraft, 2-3 times greater than the initial values. To enter the cylindrical socket at an angle, the head of the rod has a spherical (Soyuz, Soyuz- Salyut) or conical (Apollo) shape. In the latter case a two-stage hinge is necessary
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