For these reasons peripheral docking devices with continuous buffer elements have come into use. Below we examine only those docking devices with continuous buff er elements. Tt is possible to place the ring with the guide protrusions outside or inside the docking frame. When the diameter of the frame is small, external installation is expedient, since the inner space, Tor example, the tunnel, is not then obstructed. When there is a limited zone under the cowl of the rocket booster it is possible to store and later deploy the guides after injection into orbit. When the diameter of the docking frame is large it is expedient to place the ring with the guides inside the frame. This configuration makes it possible to decrease the size of the docking device or increase the bearing capacity and rigidity of construction while preserving its size. In docking devices with a transition tunnel it is possible to partially disassemble or collapse the guides if necessary. 2.7.2. Features of the Docking Mechanisms The configurations of the guides, ring, and matching surfaces were chosen such that in the interaction the rings of the active and passive docking assembly align in all six degrees of freedom, that is, they occupy a coaxial position. Linkage is done in this position. Tn addition to a certain configuration for linkage one needs significant mobility of the ring of the active docking assembly (large displacements at small forces). Thus, the characteristics of the shock absorbers are determined not only by the energy of impacts, but also by the necessary mobility of the ring. As a result, the shock absorbers of the peripheral docking devices, for identical initial conditions, should have a substantially larger course than in “rod and cone'* type docking devices. After linkage and shock absorption one must equalize the ring with the guides and then retract it. Equalization may be done by the springs of the shock absorbers or using active drives. The need to provide small forces in shock absorption adds difficulties in equalization with the springs of the shock absorbers; thus, principal schemes in which equalization is done with drives are preferable. Just like the rod in the “rod and cone” type docking device, the ring moves during shock absorption and retraction, and three basic types of construction of
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