between the bead and the rod. The angle of rotation after linkage is limited by supports on the docking mechanism; the role of the supports may be played by equalization levers. To absorb the shock of collisions with the cone and in the socket, the head of the rod should shift in the longitudinal and transverse directions. For shock absorption of the rotation of the spacecraft after linkage angular shock absorbers are necessary. To absorb pitch and yaw shocks, shock absorbers under the equalization levers are used (Apollo) or the rod rotates with supports on the shock absorbers (Soyuz-Salyut). Equalization relative to the transverse axes is done by deflection of the levers to the support into the cone. Three basic types of equalization lever mechanisms are possible: 1) with levers attached to the rod (Soyuz); 2) with levers on the cone (Soyuz-Salyut); 3) with levers linked to the rod and cone (Apollo). The deflection of the levers in equalization usually occurs when the rod is retracted by the drive of the docking mechanism, since one tries to reduce the total number of drives. In principle, the use of individual drives is possible in the lever mechanisms of the first two types. The kinematic scheme of the lever mechanism which is linked to the rod and cone is the simplest, and the docking mechanism has minimal longitudinal dimensions. Full equalization is done at a small distance between the frames; thus, this type of mechanism is applicable only for small frame diameters without protrusions on the plane of the joint of elements. When the lever mechanism is on the rod, equalization may be done at a significant distance between the docking frames; however, the length of the docking mechanism is increased, and additional kinematic elements are required. The position of equalization levers on the hull makes it possible to decrease the longitudinal dimensions of the docking mechanism; however, the rule for the motion of the levers, and consequently, the kinematic scheme of the mechanism is significantly more complicated. The rod of the docking mechanism, that is, the buffer element, is displaced in two cases: in longitudinal shock absorption and during retraction by the drive. Thus, the shock absorption-drive system may be parallel (Apollo), sequential (Soyuz) or combined (Soyuz-Salyut).
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