Figure 2.5. Construction principle of the geometry of the ring with guide protrusions. is the maximum initial displacement; are the maximum initial misalignments in roll, pitch, and yaw. a. position of active and passive rings; b. shifting of active ring; 1. zone of the possible positions of the extreme points of the matching ring with the guides; 2. matching ring of the passive docking assembly. shock absorption-drive system are possible: sequential, parallel, and combined. In parallel and combined schemes it is possible to shift the ring with guides using a single drive for all the rods or several drives. The use of several drives requires synchronization, which significantly complicates their control. The basic dimensions of the ring with guides (Figure 2.5) are determined by the diameter of the docking frame and the maximum initial displacements during docking. The length of the guides is defined by the maximum lateral error . The angles of inclination forming and the lateral boundaries of the guides are determined from an analysis of various cases of interaction considering
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