Compact stowing of antenna on space vehicle using multi-axis boom

Abstract

To provide an improved system and method for compact stowing on a space vehicle.SOLUTION: An antenna using a multi-axis boom includes a feed device 208 for providing / receiving a signal, a reflector 206 for reflecting the signal, and a multi-axis boom 203 for deploying the reflector by transitioning from a first boom configuration to a second boom configuration, where the transition moves the reflector from a first reflector position to a second reflector position. The boom includes a first boom segment providing a length of the boom, a proximal rotatable joint disposed at a proximal end of the boom and rotatable about a proximal joint rotation axis, a distal rotatable joint connectable to the reflector and rotatable about a distal joint rotation axis, and a first actuator configured to transition the boom from the first boom configuration to the second boom configuration by rotating a rotatable joint about the corresponding rotation axis.SELECTED DRAWING: Figure 2B

Description

[Technical field]

[0001] The following relates generally to antenna systems and reflectors, and more particularly to systems and methods for compact storage of antennas on space vehicles. [Background technology]

[0002] As space vehicle launch capabilities increase and improve, the demand for space vehicles (also known as spacecraft), and especially satellites, increases. Part of this market includes space vehicle models that are more compact than traditional space vehicles (i.e., the "small satellite market"). These compact space vehicles are typically less costly to deploy compared to their larger counterparts. In particular, launch costs for these vehicles are lower than larger space vehicles because smaller launchers (i.e., launch rockets) or ride-share missions can be used. Thus, reducing the size of space vehicles reduces mission costs, providing a cost-effective option for missions on a budget.

[0003] The optimal deployment configuration, (i.e., geometry), of certain required space vehicle equipment, such as antenna reflectors, can preclude these size considerations, especially at launch. Methods exist for stowing the reflector during launch, for example, some existing systems use prismatic or telescoping booms that extend through concentric boom segments, but these methods traditionally require custom parts and materials, as well as complex deployment test setups. These parts and tests can be expensive.

[0004] Additionally, existing booms may not fit the geometry (size or shape) of a corresponding antenna or space vehicle. For example, while there may be a desire for a more compact space vehicle, mission requirements may require a large antenna or space vehicle geometry. Existing booms, such as telescoping booms, may not provide the capability to support such large geometries with the required torsional stiffness, tunability, and thermoelastic stability. Thus, current systems and methods are limited in providing optimal deployment geometries for a mission or mission actions, such as trimming, steering, zooming, or aligning in azimuth and / or elevation. For example, in orbit, it may be necessary to realign the antenna to achieve optimal transmission. Existing methods do not provide the ability to perform this realignment or to accommodate optimal alignment geometries. Summary of the Invention [Problem to be solved by the invention]

[0005] Thus, there is a need for improved systems and methods for compact storage on space vehicles that overcome at least some of the shortcomings of existing systems and methods. [Means for solving the problem]

[0006] A method for stowing and deploying an antenna is provided herein, the method including the steps of stowing an antenna reflector on a spacecraft platform with a multi-axis boom, the multi-axis boom being foldable at a plurality of joints; releasing a first set of retention and release mechanisms (HRMs) that secure the antenna reflector to the spacecraft platform; and deploying the antenna reflector to a deployed position by sequentially unfolding the boom at the joints to reflect radio frequency (RF) waves to or from a supply device.

[0007] The method may further include releasing a second set of retention and release mechanisms securing the boom to the spacecraft platform.

[0008] The deployment location may be a location remote from the spacecraft platform.

[0009] The antenna reflector may be stowed on the nadir deck of the spacecraft platform, and the boom, when folded, positions the antenna reflector parallel or nearly parallel to the nadir deck.

[0010] When the boom is folded, it is possible to position the antenna reflector parallel or nearly parallel to the nadir deck.

[0011] The boom may be attached to the spacecraft platform on a side adjacent the nadir deck.

[0012] The feeder may be mounted on the same side of the spacecraft platform as the boom.

[0013] Sequentially spreading the boom at the joints may include spreading the boom through at least three joints.

[0014] The at least three joints may have respective axes of rotation that are parallel to one another.

[0015] The deployed position may position the antenna reflector to at least one of receive and transmit RF waves unobstructed by the spacecraft platform or any components disposed thereon.

[0016] The method may further include actuating at least one of the joints of the boom to move the antenna reflector closer to or farther from the spacecraft platform to change the focal length of the antenna.

[0017] Actuating at least one of the boom joints may include rotating the at least one joint to decrease or increase a joint angle between adjacent boom segments connected by the at least one joint to move the antenna reflector closer to or farther from the spacecraft platform.

[0018] At least one of the multiple joints is capable of trimming the antenna in azimuth.

[0019] The joint closest to the spacecraft can trim the antenna in azimuth, and the joint closest to the reflector can trim the antenna in azimuth.

[0020] The boom may include a trimming joint for trimming or steering the antenna by rotating the antenna reflector through the trimming joint.

[0021] The trimming joint allows the antenna to be trimmed or steered in elevation by rotating the trimming joint.

[0022] The method can further include trimming or steering the antenna in azimuth with at least one of the plurality of joints, where an axis of rotation of the trimming joint and an axis of rotation of at least one of the plurality of joints are substantially orthogonal, where "substantially orthogonal" can include the axis of rotation being between 80° and 90°.

[0023] The foldable joint closest to the spacecraft can be used to trim or steer the antenna.The foldable joint closest to the antenna can be used to trim or steer the antenna.

[0024] A joint for trimming in azimuth may be rotatably coupled to the trimming joint.

[0025] The plurality of joints may include a set of joints for extending the boom with parallel axes of rotation, the trimming joint having an axis of rotation that is non-parallel to the parallel axes of rotation of the set of joints for extending the boom.

[0026] The trimming joint can be rotatably coupled to another one of the boom joints having an axis of rotation that is non-parallel to the axis of rotation of the joint for trimming, the joint for trimming rotating about the other one of the joints.

[0027] The antenna may be a single offset antenna.

[0028] In one embodiment, the antenna is a first antenna and the antenna reflector is a first antenna reflector, and the method further includes performing, for a second antenna on the spacecraft platform, the steps of stowing the second antenna reflector on the spacecraft platform with a second multi-axis boom, the second multi-axis boom being foldable at a plurality of joints, releasing a second set of HRMs securing the second antenna reflector to the spacecraft platform, and deploying the second antenna reflector to a deployed position by sequentially unfolding the second boom at the joints to reflect RF waves to or from the second feeder. The second antenna reflector and the first antenna reflector are stacked on one another when stowed.

[0029] The first and second antenna reflectors of the first and second antennas may be stowed on the nadir deck of the spacecraft platform.

[0030] The first antenna and the second antenna can be deployed on opposite sides of the spacecraft platform. The first and second antennas can be on the same side of the spacecraft platform. The first and second antennas can be on adjacent sides of the spacecraft platform.

[0031] Provided herein is a system for stowing and deploying an antenna on a spacecraft, the system including a feeder for transmitting and / or receiving radio frequency (RF) waves, an antenna reflector for reflecting radio frequency (RF) waves to or from the feeder, and a boom attached to the antenna reflector and to the spacecraft, the boom including a plurality of joints for folding the boom to stow the antenna reflector and unfolding the boom to deploy the antenna reflector to a deployed position.

[0032] The joints may have parallel axes of rotation for spreading the boom.

[0033] At least one of the multiple joints is capable of trimming the antenna in azimuth.

[0034] The joint closest to the spacecraft can trim the antenna in azimuth, and the joint closest to the reflector can trim the antenna in azimuth.

[0035] The boom may include a trimming joint for trimming or steering the antenna by rotating the antenna reflector through the trimming joint.

[0036] The trimming joint allows the antenna to be trimmed or steered in elevation by rotating the trimming joint.

[0037] The method can further include trimming or steering the antenna in azimuth with at least one of the plurality of joints, where an axis of rotation of the trimming joint and an axis of rotation of at least one of the plurality of joints are substantially orthogonal, where "substantially orthogonal" can include the axis of rotation being between 80° and 90°.

[0038] The foldable joint closest to the spacecraft can be used to trim or steer the antenna.The foldable joint closest to the antenna can be used to trim the antenna.

[0039] A joint for trimming in azimuth may be rotatably coupled to the trimming joint.

[0040] The plurality of joints may include a set of joints for extending the boom with parallel axes of rotation, the trimming joint having an axis of rotation that is non-parallel to the parallel axes of rotation of the set of joints for extending the boom.

[0041] The trimming joint can be rotatably coupled to another one of the boom joints having an axis of rotation that is non-parallel to the axis of rotation of the joint for trimming, the joint for trimming rotating about the other one of the joints.

[0042] The boom can include at least two boom segments and three joints connected in series, one of the three joints being either (i) coupled to a third boom segment that is fixedly attached to the antenna reflector, or (ii) coupled to a fourth joint that is coupled to the antenna reflector and rotates along an axis of rotation that is non-parallel to the one of the three joints.

[0043] Rotation of the fourth joint allows the antenna to be trimmed in elevation.

[0044] The antenna reflector may be stowed on the nadir deck of the spacecraft platform, and the boom, when folded, positions the antenna reflector parallel or nearly parallel to the nadir deck.

[0045] When the boom is folded, it can position the antenna reflector parallel or nearly parallel to the nadir deck.

[0046] The boom may be attached to the spacecraft platform on a side adjacent the nadir deck.

[0047] The feeder may be mounted on the same side of the spacecraft platform as the boom.

[0048] Sequentially spreading the boom at the joints may include spreading the boom through at least three joints.

[0049] The at least three joints may have respective axes of rotation that are parallel to one another.

[0050] The deployment position may position the antenna reflector so as not to be obstructed by the spacecraft platform or any components disposed thereon.

[0051] The boom can adjust the focal length of the antenna by actuating at least one of the joints to move the antenna reflector closer to or farther from the spacecraft platform.

[0052] The antenna may be a single offset antenna.

[0053] The antenna may be a first antenna, and the system may further include a second antenna including a second feeder for transmitting and / or receiving a second set of radio frequency (RF) waves, a second antenna reflector for reflecting the second set of RF waves to or from the second feeder, and a second boom attached to the second antenna reflector and to the spacecraft, the second boom including a second plurality of joints for folding the second boom to store the second antenna reflector on top of the antenna reflector of the first antenna and unfolding the boom to deploy the second antenna reflector to a second primary deployment position.

[0054] The first and second antennas may be deployed on opposite sides of the spacecraft platform. The first and second antennas may be on the same side of the spacecraft platform. The first and second antennas may be on adjacent sides of the spacecraft platform.

[0055] Provided herein is a stowable antenna system including a base, an antenna comprising a feeder for providing or receiving a signal and a reflector for reflecting the signal, and a multi-axis boom for deploying the antenna by moving the reflector from a first position to a second position, the boom including at least one boom segment providing a length of the boom, a proximal rotatable joint disposed at a proximal end of the boom and rotatable about a proximal joint rotation axis, the proximal end of the boom being relative to a connection to the base, a distal rotatable joint for rotatably connecting the boom to the reflector, the distal rotatable joint being connectable to the reflector and rotatable about the distal joint rotation axis, and a first actuator configured to move the boom by rotating at least one rotatable joint of the boom about a corresponding rotation axis, the boom deploying the antenna by moving the reflector from a first reflector position to a second reflector position by the first actuator.

[0056] The at least one boom segment may further include n boom segments, where n is any integer greater than 1, each of the n boom segments rotatably connected to an adjacent boom segment by a corresponding rotatable joint, each rotatable joint being rotatable about a corresponding axis of rotation.

[0057] Each rotatable joint may include a rotary actuator for rotating the rotatable joint.

[0058] Each axis of rotation may be parallel to the remaining axes of rotation.

[0059] The antenna system may further include a misaligned rotatable joint rotatable about a misaligned rotation axis, the proximal and distal rotation axes being parallel, the misaligned rotation axis being non-parallel to the proximal rotation axis, and rotating the misaligned rotatable joint transitions the reflector from a first orientation to a second orientation relative to the supply device.

[0060] One of the proximal rotatable joint and the distal rotatable joint may include a misaligned rotatable joint.

[0061] The second antenna position may have a shorter or longer focal length than the first antenna position.

[0062] The second antenna position may provide improved alignment with the feeding device compared to the first antenna position.

[0063] The at least one boom segment may further include a distal boom segment connected at a proximal end to a distal rotatable joint and at a distal end to a reflector.

[0064] The first actuator can be disposed at the proximal rotatable joint, and the boom further includes a second actuator disposed at the distal rotatable joint, each actuator including one or more of a stepper motor and a spring joint for rotating a corresponding rotatable joint.

[0065] The antenna may be a Gregorian antenna, the antenna further including a sub-reflector for reflecting the signal back to the reflector.

[0066] The sub-reflector can be fixed.

[0067] The sub-reflector may be a deployable sub-reflector on a multi-axis boom.

[0068] Provided herein is an antenna system including a platform, a first feeder for providing or receiving a first signal, the first feeder being disposed on a first side of the platform, and a first antenna including a first reflector for reflecting the first signal, and a first boom for deploying the first antenna in a second geometry of the first antenna by moving the first reflector from a first position of the first reflector to a second position of the first reflector, the first boom including at least three first boom segments each providing a length to the first boom and at least two first boom intermediate turns. and at least one first boom actuator configured to transition the first boom from a first boom first configuration to a first boom second configuration by rotating the at least one rotatable joint of the first boom, the first boom deploying the first antenna in a second antenna geometry of the first antenna by moving the first reflector from a first reflector first position to a first reflector second position via rotation by the first boom actuator.

[0069] The boom in the first configuration can position the first antenna in a stowed configuration.

[0070] The vehicle may be more compact when the first antenna is in the stowed configuration as compared to the deployed configuration.

[0071] The first reflector in the first position may be located on the nadir deck of the platform.

[0072] The first boom may further include at least one misaligned rotatable joint rotatably connecting at least two boom segments of the first boom, the misaligned rotatable joint being rotatable about a misaligned rotation axis, the rotation axes of the proximal, distal and intermediate joints of the first boom being parallel, the misaligned rotation axis being non-parallel to the proximal rotation axis of the first boom, and rotating the misaligned rotatable joint transitions the first reflector from a first orientation to a second orientation relative to the first feed.

[0073] The first antenna can have a shorter focal length in the second antenna geometry than in the first geometry, the first geometry corresponding to the first position.

[0074] The first boom in the second configuration may position the first reflector in an improved alignment with the feeder than the first boom in the first configuration.

[0075] The antenna system may further include a second feeder for providing or receiving a second signal, the second feeder being disposed on a second side of the platform, a second antenna including a second reflector for reflecting the second signal, and a second boom for deploying the second antenna in a second geometry of the second antenna by moving the first reflector from a first position of the second reflector to a second position of the second reflector, the second boom having at least three second boom segments each providing a length to the second boom, and at least two second boom intermediate rotatable joints. and at least one second boom actuator configured to transition the second boom from a second boom first configuration to a second boom second configuration by rotating the at least one rotatable joint of the second boom, the second boom deploying the second antenna in a second antenna geometry by moving the second reflector from a second reflector first position to a second reflector second position via rotation by the second boom actuator.

[0076] The first reflector in the first position and the second reflector in the first position of the second reflector can be stacked.

[0077] The platform may include a retention and release mechanism configured to releasably retain one or more of the first boom and the first reflector.

[0078] The retention and release mechanism can be configured to releasably retain multiple components of the first antenna and to release a first component of the multiple components independently from the remaining retained components.

[0079] Provided herein is a method of deploying a storable equipment using a multi-axis boom, the method including the step of moving the equipment from a stowed position to a deployed position with the multi-axis boom by rotating at least one rotatable joint of the boom to transition the boom from a first boom configuration to a second boom configuration, the boom including at least a first boom segment providing a length of the boom, a proximal rotatable joint disposed at a proximal end of the boom and rotatable about a proximal joint rotation axis, a distal rotatable joint for rotatably connecting the boom to a reflector, the distal rotatable joint being connectable to the reflector and rotatable about the distal joint rotation axis, and a first actuator configured to transition the boom from the first boom configuration to the second boom configuration by rotating the at least one rotatable joint of the boom about a corresponding rotation axis.

[0080] The stowing equipment may be on a space vehicle, the boom in a first configuration placing the payload in a stowed configuration, the space vehicle being more compact in the stowed configuration than when the antenna is in the second antenna geometry.

[0081] The stowing device can be an antenna reflector, and the boom in a first configuration positions the antenna in a first antenna geometry and deploys the antenna to a second antenna geometry to perform at least one of zooming the antenna by shortening a focal length of the antenna, trimming the antenna, steering the antenna, or aligning the antenna.

[0082] The boom may further include a second boom segment rotatably connected to the proximal boom segment by a second rotatable joint, and a third boom segment rotatably connected to the second boom segment by a third rotatable joint and to the proximal boom segment by the proximal rotatable joint, the method further including, in the first angular orientation, rotating the second rotatable joint a predetermined rotational amount in a first direction, and rotating the third rotatable joint a predetermined rotational amount in a second direction, the second direction being opposite to the first direction of rotation.

[0083] The method may further include rotating, with the first actuator, at least one rotatable joint of the first boom to return the first boom to the first configuration.

[0084] The method may further include rotating at least one rotatable joint of the second boom to position the second boom and the second storable equipment out of an interference path of the first boom and the first reflector.

[0085] Provided herein is a method of deploying an antenna on a spacecraft, the method including: deploying a first antenna reflector using a first multi-axis boom; deploying a second antenna reflector using a second multi-axis boom; trimming the first antenna reflector by adjusting a position or orientation of the spacecraft; reflecting a first radio frequency (RF) signal with the trimmed first antenna reflector; trimming the second antenna reflector by rotating a rotatable joint of the second multi-axis boom; and reflecting a second RF signal with the trimmed second antenna reflector.

[0086] Provided herein is a storable equipment spacecraft system including a spacecraft, a storable equipment, a multi-axis boom for deploying the storable equipment by moving the storable equipment from a first position to a second position, the boom including at least one boom segment providing a length of the boom, a proximal rotatable joint disposed at a proximal end of the boom and rotatable about a proximal joint rotation axis, the proximal end of the boom being relative to a connection to the spacecraft, a distal rotatable joint for rotatably connecting the boom to the storable equipment, the distal rotatable joint connectable to the storable equipment and rotatable about a distal joint rotation axis, and a first actuator configured to move the boom by rotating at least one rotatable joint of the boom about a corresponding rotation axis, the boom deploying the storable equipment by moving the storable equipment from the first position to the second position by the first actuator.

[0087] The at least one boom segment may further include n boom segments, where n is any integer greater than 1, each of the n boom segments rotatably connected to an adjacent boom segment by a corresponding rotatable joint, each rotatable joint being rotatable about a corresponding axis of rotation.

[0088] Each rotatable joint may include a rotary actuator for rotating the rotatable joint.

[0089] Each axis of rotation may be parallel to the remaining axes of rotation.

[0090] Provided herein is a method for stowing and deploying stowing equipment on a spacecraft, the method including the steps of stowing the stowing equipment on a spacecraft platform with a multi-axis boom, the multi-axis boom being foldable at a plurality of joints, the stowing equipment being connected to the multi-axis boom; releasing a first set of retention and release mechanisms (HRMs) that secure the stowing equipment to the spacecraft platform; and deploying the stowing equipment to a deployed position by sequentially unfolding the booms at the joints.

[0091] The method may further include releasing a second set of retention and release mechanisms securing the boom to the spacecraft platform.

[0092] The deployment location may be a location remote from the spacecraft platform.

[0093] The stowable equipment may be stowed on the nadir deck of the spacecraft platform.

[0094] The boom may be attached to the spacecraft platform on a side adjacent the nadir deck.

[0095] Sequentially spreading the boom at the joints may include spreading the boom through at least three joints.

[0096] The at least three joints may have respective axes of rotation that are parallel to one another.

[0097] The method may further include actuating at least one of the joints of the boom to move the stowable equipment closer to or farther from the spacecraft platform.

[0098] Actuating at least one of the boom joints may include rotating the at least one joint to decrease or increase a joint angle between adjacent boom segments connected by the at least one joint to move the stowable equipment closer to or farther from the spacecraft platform.

[0099] Provided herein is a system for stowing and deploying stowing equipment on a spacecraft, the system including a spacecraft, a stowing equipment, and an antenna reflector and a boom attached to the spacecraft, the boom including a plurality of joints for folding the boom to stow the antenna reflector and unfolding the boom to deploy the antenna reflector to a deployed position.

[0100] The stowable equipment may be stowed on the nadir deck of the spacecraft platform.

[0101] The boom may be attached to the spacecraft platform on a side adjacent the nadir deck.

[0102] Spanning the boom at the joints may include spreading the boom through at least three joints.

[0103] Other aspects and features will become apparent to those skilled in the art upon review of the following description of several exemplary embodiments.

[0104] The drawings included herein are intended to illustrate various examples of the articles, methods, and apparatus herein. [Brief description of the drawings]

[0105] [Figure 1A] FIG. 1 is a block diagram of a system for compact storage and deployment of an antenna on a space vehicle, according to one embodiment. [Figure 1B] FIG. 1B is a block diagram of the boom segment of FIG. 1A according to one embodiment. [Figure 1C] FIG. 1B is a schematic perspective view of the boom segment of FIG. 1A according to one embodiment. [Figure 1D] FIG. 1B is a block diagram of the rotatable joint of FIG. 1A according to one embodiment. [Figure 1E] FIG. 1B is a schematic perspective view of the rotatable joint of FIG. 1A according to one embodiment. [Figure 2A] FIG. 1 is a schematic perspective view of a system for compact storage of an antenna, with the antenna in a stored configuration, according to one embodiment. [Figure 2B] FIG. 2B is a schematic perspective view of the system of FIG. 2A with the antenna in a deployed configuration, according to one embodiment. [Figure 2C] FIG. 2B is a schematic perspective view of the multi-axis boom of FIG. 2A in isolation. [Figure 2D] FIG. 2C is a schematic perspective view of the multi-axis boom of FIG. 2B in isolation. [Figure 3A] FIG. 1B is a schematic side view of the multi-axis boom of FIG. 1A in a stowed configuration, according to one embodiment. [Figure 3B] FIG. 1B is a schematic perspective view of the multi-axis boom of FIG. 1A in a deployed configuration, according to one embodiment. [Figure 4A] FIG. 2 is a schematic side view of a system for compact storage of two antennas in a stored configuration, according to one embodiment. [Figure 4B] FIG. 4B is a schematic side view of the system of FIG. 4A, with the antenna in a deployed configuration. [Diagram 5] 1B is a flow diagram of a method (i.e., a deployment sequence) for deploying the storable device of FIG. 1A via the multi-axis boom of FIG. 1A, according to one embodiment. [Figure 6A] 6 is a schematic side view of the system of FIG. 3A deployed according to the deployment method of FIG. 5, in accordance with one embodiment. [Figure 6B] 6 is a schematic side view of the system of FIG. 3A deployed according to the deployment method of FIG. 5, in accordance with one embodiment. [Figure 6C] 6 is a schematic side view of the system of FIG. 3A deployed according to the deployment method of FIG. 5, in accordance with one embodiment. [Figure 6D]6 is a schematic side view of the system of FIG. 3A deployed according to the deployment method of FIG. 5, in accordance with one embodiment. [Figure 6E] 6 is a schematic side view of the system of FIG. 3A deployed according to the deployment method of FIG. 5, in accordance with one embodiment. [Figure 6F] 6 is a schematic side view of the system of FIG. 3A deployed according to the deployment method of FIG. 5, in accordance with one embodiment. [Figure 6G] 6 is a schematic side view of the system of FIG. 3A deployed according to the deployment method of FIG. 5, in accordance with one embodiment. [Figure 6H] 6 is a schematic side view of the system of FIG. 3A deployed according to the deployment method of FIG. 5, in accordance with one embodiment. [Figure 7A] FIG. 1 is a side block diagram of a system for compact storage of an antenna in an initial or primary deployment configuration, according to one embodiment. [Figure 7B] 7B is a side block diagram of the system of FIG. 7A in a zoomed-in configuration relative to the deployed configuration of FIG. 7A, according to one embodiment. [Figure 7C] FIG. 7B is a side block diagram of the system of FIG. 7A in a trimmed configuration relative to the deployed configuration of FIG. 7A, according to one embodiment. [Figure 8] FIG. 1 is a flow diagram of a method for deploying a first antenna and a second antenna including trimming the antennas, according to one embodiment. [Figure 9A] FIG. 1 is a perspective schematic diagram of a system for compact storage and deployment of an antenna on a space vehicle including a four-axis boom, according to one embodiment. [Figure 9B] FIG. 9B is a schematic perspective view of the boom of FIG. 9A in isolation; [Figure 10A] FIG. 1 is a perspective schematic diagram of a system for compact storage and deployment of an antenna on a space vehicle including a five-axis boom, according to one embodiment. [Figure 10B] FIG. 10B is a perspective schematic view of the boom of FIG. 10A in isolation; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0106] Various devices or processes are described below to provide an example of each claimed embodiment. Any embodiment described below does not limit the claimed embodiment, and any claimed embodiment may cover a process or device different from that described below. The claimed embodiments are not limited to a device or process having all of the features of any one device or process described below, nor to features common to some or all of the devices described below.

[0107] The description of an embodiment with several components in communication with each other does not imply that all such components are required, but rather, a variety of optional components are described to illustrate a wide range of possible embodiments of the present invention.

[0108] Additionally, although process steps, method steps, algorithms, or the like may be described (in the description and / or claims) in a sequential order, such processes, methods, and algorithms may be configured to work in alternative orders. In other words, any order or sequence of steps that may be described does not necessarily indicate a requirement that the steps be performed in that order. Steps of processes described herein may be performed in any order that is practical. Additionally, some steps may be performed simultaneously.

[0109] It will be readily apparent that when a single device or article is described herein, more than one device / article (whether or not they cooperate) may be used in place of the single device / article. Similarly, it will be readily apparent that when more than one device or article is described herein (whether or not they cooperate), a single device / article may be used in place of the more than one device or article.

[0110] The following relates generally to antenna systems and reflectors, and in particular to systems and methods for stowing boom-mounted equipment of a space vehicle. The following also relates generally to systems and methods for stowing equipment of a space vehicle via a stowable boom, and in particular to systems and methods for stowing equipment of a space vehicle via an articulating multi-axis boom.

[0111] The present disclosure provides systems and methods for compact stowage of payloads on spacecraft using a multi-axis boom. In this specification, the "payload" or "stowable equipment" is often described as an antenna, and in the embodiments, details of stowage of an antenna are discussed. However, it should be understood that other payloads can also be compactly stowed and deployed using a multi-axis boom as described herein, and such embodiments are expressly contemplated herein.

[0112] A system is provided for compact storage of a payload, such as an antenna. The system includes a multi-axis boom. The multi-axis boom may be referred to as a boom assembly. The multi-axis boom includes a series of boom segments rotatably connected by joints. Each rotatable connection rotates about a corresponding axis of rotation. The range of rotation of the joints is limited by the particular mechanism of the joint as well as the interaction of the various segments of the boom. That is, a joint may have a range of rotation limited to a certain angle, e.g., 300°, which may be limited by the physical capabilities of the joint or may be limited due to the inability of a boom segment to move beyond another boom segment or a payload without abutting.

[0113] By rotating the boom segments of the multi-axis boom, any attached equipment can be stowed or deployed in various configurations, or “geometry.” For example, if the attached equipment is an antenna reflector, the reflector can be stowed in a stowed configuration and deployed to a deployed configuration in which a certain antenna geometry is achieved.

[0114] The multi-axis boom supports movement of a payload, e.g., an antenna or at least one component of an antenna, from a stowed configuration to a deployed configuration (and in some cases, vice versa). A deployed configuration is any position of the payload that is enabled or achieved by movement of the multi-axis boom away from the stowed configuration. A stowing device can have a single deployed configuration or can have several deployed configurations in which the device can perform a task or function. A deployed configuration can be any position within the range or movement of the multi-axis boom.

[0115] The movement of the joints of the multi-axis boom allows for larger movements to deploy the payload from a stowed configuration, as well as finer movements to position the payload. If the payload is an antenna reflector, in some embodiments, the multi-axis boom allows for "zooming" of the antenna, which changes the focal length, and therefore the beam diameter, of the antenna beam to improve the performance of the antenna. The multi-axis boom can also allow for "trimming" of the antenna, where the boresight for the antenna is moved to an optimal position to maximize gain. Trimming may require rotation of the reflector about its X-axis and / or Y-axis. Thus, a multi-axis boom capable of trimming will have at least one joint that can rotate the reflector about the X-axis and one joint that can rotate the reflector about the Y-axis. In some embodiments, the multi-axis boom also allows for "steering" of the antenna, which allows the antenna to be pointed on a larger scale than trimming. In general, "trimming" can involve moving the antenna on the order of a few tenths of an angle, e.g., 0.1°-0.2°, while "steering" can involve moving the antenna on the order of a few degrees, e.g., 8°-9°. The same joint of a multi-axis boom can be responsible for trimming and steering. It should be understood that when "trimming" is discussed herein as a function of a joint, said trimming can include steering.

[0116] In some embodiments, at least one of the joints may be capable of both unfolding the multi-axis boom to deploy the reflector and trimming / steer the boom, the difference being the magnitude of the movement (i.e., larger movements for folding / unfolding and finer movements for trimming).

[0117] The number of axes of rotation that a multi-axis boom includes may vary for the requirements of a particular embodiment. The number of axes may be based on, for example, mission parameters, space vehicle size, launch envelope (fairing) size, maximum antenna geometry dimensions, and / or any combination thereof. In some embodiments, the multi-axis boom may include additional axes of rotation. The additional axes of rotation may support trimming and / or aligning reflectors in radio frequency (RF) missions by providing rotation in a direction orthogonal to the other axes of rotation.

[0118] In the stowed configuration, for example during launch, the space vehicle is configured to occupy a smaller (i.e., more compact) volume than in the deployed configuration. This compact configuration advantageously fits into a smaller launch vehicle or occupies less rideshare volume than the deployed and launch configurations of existing systems that do not have a stowable boom or that have a telescoping boom. The smaller launch vehicle and / or rideshare volume advantageously reduces the cost of launching a space vehicle that uses a multi-axis boom.

[0119] In the deployed configuration, for example, when deployed in geosynchronous orbit (GEO), non-geosynchronous orbit (NGSO), and in space generally, the rotatable connections of the boom segments allow for a wide range of deployment geometries to be accommodated. This range of deployment geometries can accommodate a wider range of missions than existing boom geometries. For example, the disclosed system supports antenna trimming and / or steering, zoom corrections, and realignment both on Earth and in space. Supporting these operations supports missions where these operations are beneficial. This can advantageously reduce maintenance costs and increase the life and use of each space vehicle. In addition to increasing the value of each space vehicle, this opens up space vehicle utilization to a wider market and reduces waste generated both on Earth and in space.

[0120] The rotating joints of the multi-axis boom allow for geometries with dimensions beyond those of current boom systems (e.g., telescoping joint booms). Thus, the multi-axis boom of the present disclosure is adapted for a wider range of missions than existing systems. In particular, missions with at least one mission phase requiring a long focal length and / or large reflector offset, and at least one mission phase with tight space vehicle volume requirements, such as launch and recovery, are enabled with the multi-axis boom of the present disclosure.

[0121] Referring now to FIG. 1A, a system 100 for compact storage and deployment of at least one antenna 102 on a space vehicle 101 is illustrated herein, according to one embodiment.

[0122] In other embodiments, the system may be on a platform or base other than a space vehicle, hi other embodiments, the antenna may be any stowing device or payload to be stowing and deployed from a platform / base.

[0123] The system 100 includes a space vehicle 101 and an antenna 102 disposed on the space vehicle 101 .

[0124] Space vehicle 101 is a vehicle configured to be deployed in space for a space-based mission. Space vehicle 101 may be a spacecraft. The spacecraft may be a satellite.

[0125] Antenna 102 is configured to transmit and / or receive radio frequency (RF) signals or waves. Antenna 102 is configured to be stowed and deployed in various deployment configurations relative to space vehicle 101, as described further below.

[0126] Antenna 102 is configured, through multi-axis boom operation (described below), to be stowed within the launch envelope (dashed line in FIG. 1A ) of space vehicle 101. The launch envelope is the available three-dimensional space that space vehicle 101 occupies during launch (e.g., when space vehicle 101 is launched on another spacecraft).

[0127] Space vehicle 101 includes a platform 104. The platform forms the basic structure (or "base") of space vehicle 101. Various equipment and subsystems of space vehicle 101 are connected to and housed within platform 104. For example, elements of antenna 102 and multi-axis boom 103 may be connected to platform 104.

[0128] The platform 104 includes any number of sides 112, which may also be referred to as panels 112. The sides 112 form an exterior surface of the platform 104. Each side 112 may be the exterior surface of a corresponding wall of the platform 104 or may include the exterior surface of a piece of equipment on the platform. For example, if a component is mounted to a wall of the platform 104, the exterior surface of the component and / or the exterior surface of the wall extending beyond the component may be referred to as a side 112.

[0129] In other embodiments, the platform 104 can have different geometries or shapes. In one particular embodiment, the platform 104 is trapezoidal (as shown herein). These geometries are formed by the sides 112 that are configured in various relative orientations. In some embodiments, such as when the platform 104 is spherical, the sides 112 and the nadir deck 110 may partially or completely overlap. In these embodiments, there may be no structural or other delineation between the sides 112, the nadir deck 110 (described below), and / or the entire outer surface of the platform 104.

[0130] The platform 104 includes at least one nadir deck 110. The nadir deck 110, also known as the earth deck 110, is a reference surface of the platform 104 that is used to describe the orientation of the platform 104. The nadir deck 110 may therefore correspond to a side 112 of the platform 104.

[0131] The platform 104 may be configured such that the nadir deck 110 faces the Earth (not shown) for a typical mission. It will be appreciated that in some embodiments and / or for some missions, the platform 104 may be configured such that the nadir deck 110 faces other objects, such as other celestial bodies and / or signal receiving systems. In some embodiments, the platform 104 may be oriented such that an edge of the platform 104, sometimes referred to as an "Earth edge," faces the Earth. In such embodiments, the platform 104 may have multiple nadir decks 110 that at least partially face the Earth.

[0132] The platform 104 includes a fixture 116. The fixture 116 is a structure on the platform 104 to which components of the antenna 102 may be secured. The fixture 116 may include brackets or other mechanical parts for mounting or otherwise mechanically coupling antenna components to the platform 104.

[0133] Referring again to antenna 102, antenna 102 includes an antenna reflector 106, a feed 108 (or feeding device 108), and a multi-axis boom 103 attached to reflector 106 for deploying antenna reflector 106.

[0134] In the example of FIG. 1A, the storable device is an antenna reflector 106, although in other embodiments, other storable devices can be storable and deployed by the system 100.

[0135] Reflector 106 may be any suitable antenna reflector.

[0136] The boom 103 is configured to facilitate storage of the boom 103 and attached antenna reflector 106 within the launch envelope of a space vehicle when the boom 103 is in a stowed configuration.

[0137] The feed 108 may be a feed horn (e.g., feed horn 208 in FIG. 2). The feed 108 is mechanically coupled to the platform 104 of the space vehicle 101. The feed 108 may be fixed in location.

[0138] The feed 108 transmits and / or receives signals. The feed 108 may be communicatively connected to signal generating or processing components of the antenna 102 housed in or on the platform 104 to provide signals to and from such components.

[0139] In general, the position of the reflector 106 relative to the feed 108 can be manipulated by the boom 103 to achieve one or more antenna geometries, such as the antenna geometry shown in FIG. 2B.

[0140] In some embodiments, the antenna 102 can be a Gregorian antenna. In other embodiments, the antenna 102 can be any shape of antenna. In one embodiment, the antenna 102 can include a fixed feed 108 and a retractable reflector 106. In one embodiment, the antenna 102 can include a fixed feed 108, a fixed sub-reflector, and a retractable reflector 106. In one embodiment, the antenna 102 can include a fixed feed 108, a deployable sub-reflector on a first multi-axis boom, and a deployable reflector on a second multi-axis boom. The antennas described and illustrated herein are example antenna configurations possible within the system 101 and within this disclosure more generally. Any suitable antenna configurations can be used, and such configurations are contemplated by this disclosure.

[0141] Each multi-axis boom 103 is dynamic. That is, the boom 103 is configured to transition between various configurations. In particular, each multi-axis boom 103 is configured to transition from a stowed configuration (e.g., FIG. 2A) to a deployed configuration (e.g., FIG. 2B). The deployed configurations can include an initial or primary deployed configuration and one or more secondary or additional deployed configurations. The one or more secondary deployed configurations can be used to achieve a different antenna geometry than provided by the primary deployed configuration.

[0142] The multi-axis boom 103 has a first (proximal) end 105 for connecting to a platform 104 and a second (distal) end 107 for connecting to a reflector 106. The terms proximal and distal refer to the location of the space vehicle 101 relative to the platform 104 when deployed. That is, although various aspects of the multi-axis boom may be closer or farther from the platform and / or reflector at different locations, the term "proximal" refers to the end of a component that is closer to and "connected" in series with the platform than the payload (e.g., reflector), whereas the term "distal" refers to the end of a component that is closer to and "connected" in series with the payload (e.g., reflector) than the platform.

[0143] In some embodiments, the connections of the proximal end 105 and distal end 107 to the platform 104 and reflector 106, respectively, are fixed. In other embodiments, these connections are rotatable, for example, via a rotatable joint 130, further described below. In some embodiments, these connections are detachable. The connection at the proximal end 105 may be different than the connection at the distal end 107. It will be appreciated that if the connections are detachable, the multi-axis boom 103 may be disengaged from the antenna reflector 106 and reconfigured independently of the antenna reflector 106. For example, the multi-axis boom 103 may be detached from the antenna reflector 106 and stowed independently of the antenna reflector 106. The multi-axis boom 103 may further be detached from the antenna reflector 106 to allow for the attachment and placement of a second stowable device. It will be understood that although the proximal end 105 and the distal end 107 are mutually exclusive ends of the multi-axis boom 103, in some configurations of the multi-axis boom 103, the proximal end 105 and the distal end 107 can be substantially collocated. For example, the proximal end 105 and the distal end 107 can be substantially collocated in a stowed configuration.

[0144] Configuring the multi-axis boom 103 in a stowed configuration stows the connected reflector 106. Stowing the reflector 106 allows for various mission phases, such as launch and recovery phases, with optimized overall size and shape parameters by placing the reflector 106 in the stowed configuration instead of the deployed configuration.

[0145] The multi-axis boom 103 reduces or minimizes the volume (e.g., size and shape) of the space vehicle when in a stowed configuration, transitions the reflector 106 from a stowed position to a primary or initial deployed position, and enables the position of the reflector 106 to be optimized from the primary deployed position (i.e., by transitioning the reflector 106 from the primary deployed position to one or more secondary deployed positions). Each deployment position of the reflector 106 can be referred to as a deployment geometry or an antenna geometry.

[0146] The stowed configuration may also be for achieving dimensions of the space vehicle 101 based on prescribed external parameters. For example, the stowed configuration may fit the space vehicle 101 inside a launch vehicle fairing.

[0147] The stowed configuration of the multi-axis boom 103 can be easily adapted to accommodate a range of launch vehicles and parameters, enabling low-cost space vehicle launch options such as those using small rockets and / or ride-sharing, while enabling missions and tasks where a large reflector 106 is required.

[0148] The deployment configuration can be determined in advance (e.g., prior to launch) or remotely. Configuration parameters of the multi-axis boom 103, such as the boom segment orientation 129 described further below, can be determined in advance to achieve the deployment configuration for a prescribed mission.

[0149] For example, configuration parameters of the deployed configuration may be determined prior to launching the space vehicle 101. Once launched, the multi-axis boom 103 may be configured in the deployed configuration according to the predetermined configuration parameters to deploy the reflector 106.

[0150] This dynamic nature of the multi-axis boom 103 allows it to be tested for a given mission, for example, on Earth. These remote tests may be easier or more reliable than testing in a location such as space. Once on-site, the dynamic nature of the multi-axis boom 103 allows it to be tested remotely via modeling, including digital and physical modeling. This is particularly beneficial when the mission or operation is not determined in advance or when mission timing, such as launch windows, prevents in-person testing.

[0151] The dynamic nature of the multi-axis boom further enables dynamic benefits. For example, transitioning the multi-axis boom from a first deployed configuration to a second deployed configuration, thereby changing the position of the stowable equipment, corresponds to transitioning the space vehicle from performing a first mission, task, or operation to a second mission, task, or operation. This transition may be to improve the performance of the stowable equipment, to change the mission, task, or operation of a particular stowable equipment, to replace the stowable equipment, or to maintain, repair, recondition the stowable equipment, etc.

[0152] For example, if the storable equipment is a component of an antenna, such as antenna 101, the antenna may be transitioned from a first deployed configuration (i.e., a first antenna geometry) to a second deployed configuration (i.e., a second antenna geometry) to focus, zoom, trim, steer, align, retune, etc., the antenna 101 for various missions or operations.

[0153] The multi-axis boom 103 includes a number of boom segments 120. The boom segments 120 are collectively referred to herein as the number of boom segments 120, and individually as boom segments 120.

[0154] Each boom segment 120 is rotatably connected in series by a rotatable joint to form the structure of the multi-axis boom 103. Each boom segment 120 increases the available length or reach of the multi-axis boom 103.

[0155] A particular boom segment 120 is referred to herein as boom segment 120-#, with a lower number # indicating a boom segment connected more proximally to the platform 104 than the boom segment 120 with the higher number #. For example, proximal boom segment 120-1 refers to the boom segment 120 connected to the platform 104, boom segment 120-2 refers to the second boom segment 120 connected to the proximal boom segment 120-1, and so on. The most distal boom segment may also be referred to by its corresponding boom number # (i.e., as distal boom segment 120-4 in a system with four boom segments 120) or as distal boom segment 120-n. Features corresponding to a particular boom segment 120-# are similarly indicated. For example, the boom segment proximal end 122, illustrated further below, corresponding to boom segment 120-2 is referred to herein as boom segment proximal end 122-2.

[0156] 1B and 1C, there is shown a block diagram and schematic perspective view of a boom segment 120, according to one embodiment. The boom segment 120 includes a first end 122 and a second end 124. The ends 122 and 124, when disposed on the multi-axis boom 103 of FIG. 1A, are referred to herein as the boom segment proximal end 122 and the boom segment distal end 124, relative to the proximal end 105 and distal end 107 of the multi-axis boom 103 of FIG. 1A.

[0157] An axis along a line between the boom segment proximal end 122 and the boom segment distal end 124 is referred to herein as the boom segment axis 126. The distance between the boom segment proximal end 122 and the boom segment distal end 124 along the boom segment axis 126 is referred to herein as the boom segment length 128. It will be understood that the boom segment axis 126 and the boom segment length 128, as referred to herein, may or may not coincide fully or partially with the physical boom segment 120. For example, when the boom segment 120 is bent or curved, the path along the boom segment 120 will deviate from the boom segment axis 126 and the length of the path along the boom segment 120 will be longer than the boom segment length 128.

[0158] 1A and also with reference to FIG. 1B, the orientation of each boom segment 120 is referred to herein as a boom segment orientation 129. A boom segment orientation 129 should be understood to be the orientation of the corresponding boom segment axis 126 in the direction of the distal end 107, relative to the component connected to the boom segment proximal end 122, unless otherwise stated. For example, the boom segment orientation 129-1 of the proximal boom segment 120-1 oriented with the boom segment axis 126-1 perpendicular to the connected side 112 is 90 degrees. In a further example, the second boom segment orientation 129-2 of the second boom segment 120-2 oriented such that the boom segment axis 126-2 is perpendicular and opposite the boom segment axis 126-1 is 180 degrees. Any rotation of the boom segment 120 should be understood to be counterclockwise, relative to the orientation of the boom segment axis 126 prior to the rotation, unless otherwise stated.

[0159] The configuration of each multi-axis boom 103 in any geometry is a function of the boom segment length 128 and boom segment orientation 129 of each included boom segment 120. It will be appreciated that the volume of the space vehicle 101 as well as the arrangement (position and orientation) of the connected stowable equipment is a function of this configuration. Each boom segment is designed and manufactured to have a particular boom segment length, which allows for the achievement of a desired space vehicle volume and configuration (i.e., stowed configuration and deployed configuration / antenna geometry) by placing each boom segment 120 in a particular boom segment orientation 129. It will be appreciated that in the deployed configuration, each boom segment axis 126 may not be aligned (i.e., parallel) with the boom segment axes 126 of the remaining boom segments 120. Configuring the boom segments 120 with misaligned boom segment axes 126 can advantageously accommodate deployment geometries beyond those of existing systems, such as telescoping systems.

[0160] Varying the boom segment orientation 129 accommodates a dynamic range of deployment geometries and resulting stowable equipment positions and orientations. The dynamic range accommodates a variety of missions, tasks, and operations, including stowable equipment maintenance and repair operations. The dynamic range can also accommodate space vehicle interactions with supporting options by allowing the space vehicle to adapt to parameters of other vehicles, such as launch vehicles.

[0161] Each boom segment 120 may be of various configurations. For example, each boom segment 120 may be in the form of a rod, tube, bar, box beam, I-beam, etc. The configuration of each boom segment 120 may be based on the dimensions of the platform 104 or the intended mission, task, and / or terrain of the space vehicle 101. In one example, the platform includes a side 112 along which a portion of the multi-axis boom 103 is intended to be stored. In embodiments where the side 112 is flat, each boom segment 120 forming this portion may be straight. In embodiments where the side 112 is curved, the corresponding boom segment 130 may be similarly curved to match the contour of the side 112.

[0162] In a further example, each boom segment length 128 can be such that each boom segment 120, when stowed, remains substantially within the contours of the boundary of the platform 104 volume. Each boom segment length 128 can be different from the remaining boom segment lengths 128. It will be appreciated that in some embodiments, a particular boom segment 120 can have a boom segment length 128 that extends beyond the boundary of the platform 104 volume. For example, the penultimate boom segment 120-(n-1) can extend beyond the nadir deck 110, allowing stowing equipment to lie flat on the nadir deck 110. It will be appreciated that each boom segment 120 can be configured and arranged differently than every other boom segment 120.

[0163] The multi-axis boom 103 further includes a rotatable joint 130. The rotatable joints 130 are collectively referred to as rotatable joint 130 and rotatable joints 130. The particular rotatable joint 130-# and corresponding features are indicated as well as the particular boom segment 120-#.

[0164] 1D and 1E, a block diagram and schematic perspective view of a rotatable joint 130 are shown according to one embodiment. Referring also to FIG. 1A, the rotation of each rotatable joint 130 is about at least one axis of rotation 132. In some embodiments, each rotatable joint 130 rotates about a single axis of rotation 132. In some embodiments, the rotatable joint 130 is configured such that the axis of rotation 132 is perpendicular to the boom segment axis 126 of FIG. 1B and FIG. 1C of each boom segment 120 connected to the rotatable joint. A rotatable joint 130 with such a perpendicularly oriented axis of rotation 132 can redirect the connected boom segment 120. In some embodiments, the rotatable joint 130 is configured such that the axis of rotation 132 is coincident with at least one boom segment axis of the boom segment 120 connected to the rotatable joint. A rotatable joint 130 with such an axis of rotation 132 oriented coincident with a boom segment axis can rotate the connected corresponding boom segment 120 about its axis.

[0165] The axis of rotation 132 of each rotatable joint 130 may be aligned, e.g., parallel, with the axis of rotation 132 of any or all of the other axes of rotation 132. This alignment may occur between the axes of rotation 132 of each multi-axis boom 103 and / or across multiple multi-axis booms 103 of a space vehicle 101. This alignment simplifies and reduces the risk of creating a deployment path. In some embodiments, these axes are misaligned and additional axes are added based on mission requirements, such as to allow for avoidance, trimming, steering, zooming, or aligning of equipment of the space vehicle 101, etc.

[0166] 1B and 1C, each boom segment 120 is rotatably connected to an adjacent boom segment 120 via a rotatable joint 130. The proximal boom segment end 122-1 is further rotatably connected to the platform 104 via a rotatable joint 130-1. Specifically, each rotatable joint 130 rotatably connects each boom segment proximal end 122 to the platform 104 or to the proximally preceding boom segment 120. Each rotatable joint 130 other than the most proximal rotatable joint 130-1 connects each corresponding boom segment distal end 124 to the proximal end 122 of the distally succeeding boom segment 120. For example, the platform 104 is rotatably connected to the proximal boom segment proximal end 122-1 via the proximal rotatable joint 130-1, and the proximal boom segment distal end 124-1 is connected to the second boom segment proximal end 122-2 by a second rotatable joint 130-2.

[0167] The most distal boom segment 120-n is connected at a distal end 124-n to a corresponding reflector 106. It will be appreciated that this connection need not be via a rotatable joint 130 (i.e., it may be a fixed connection, a removable connection, or other moveable joint). It will be further appreciated that in some configurations, the corresponding reflector 106 may be disconnected (i.e., removed). For example, the reflector 106 may be removed to allow the reflector 106 to be stowed away from the multi-axis boom 103 or to allow replacement of stowing equipment.

[0168] The configuration of each rotatable joint 130 may be the same or different within or across embodiments. For example, a rotatable joint 130 for a particular space vehicle 101 may be selected based on the mass and size of the stowable equipment and boom segments 120 and the geometry that the rotatable joint 130 is intended to accommodate. In some embodiments, a rotatable joint 130 in a particular multi-axis boom 103 may be selected based on the placement of the rotatable joint within the multi-axis boom 103. For example, a higher resistance rotatable joint 130 may be selected for a rotatable joint 130 that is located more proximally relative to other rotatable joints 130 due to the mass of the additional number of boom segments and the longer potential moment arm that the more proximal rotatable joint 130 is intended to accommodate.

[0169] It will be understood that the number of rotatable joints 130 and boom segments 120 may vary in various space vehicle 101 embodiments. These differences may be based on mission, task, and / or operation parameters. For example, an embodiment of a space vehicle 101 intended for a mission that benefits from less mass may have fewer rotatable joints 130 and boom segments 120. In a further embodiment, a space vehicle intended for a mission that benefits from trimming may have at least a fifth rotatable joint 130-5 to rotate the reflector about an axis of rotation perpendicular to at least one of the other four joints, e.g., in elevation, relative to a space vehicle with four rotatable joints 130. That is, at least one of the other four rotatable joints may be configured to trim the reflector along an axis with the fifth joint configured to trim the reflector about an orthogonal axis. As discussed above, trimming may include steering.

[0170] In other embodiments, the fifth joint can be a ball joint or similar multi-axis joint, which allows the reflector to rotate in multiple directions.

[0171] In some embodiments, each rotatable joint 130 includes a rotatably connected proximal joint piece 134 and a distal joint piece 136. The proximal joint piece 134-1 (i.e., the first proximal joint piece 134-1) is fixedly connected to the platform 104, and each remaining proximal joint piece 134 is fixedly connected to each remaining boom segment distal end 124. It will be appreciated that the proximal joint piece 134 need not be fixed to the distal boom segment distal end 124-n. Each distal joint piece 136 is fixedly connected to each boom segment proximal end 122. Each proximal joint piece 134 is rotatably connected to a distal joint piece 136 connected to the next boom segment 120 to form a rotatable connection. For example, the proximal joint piece 134-1 is connected to the distal joint piece 136-2.

[0172] Each multi-axis boom 103 further includes any number of drive mechanisms 140. The drive mechanisms 140 actuate the orientation 129 of each boom segment from a first orientation to a second orientation. Each drive mechanism 140 may be dedicated to act on a particular rotatable joint 130 or boom segment 120 or may be located within or on a particular rotatable joint 130 or boom segment 120.

[0173] In one example, each drive mechanism 140 is a rotary actuator. In this example, each drive mechanism 140 is disposed on and acts on a dedicated rotatable joint 130. That is, each rotatable joint 130 has a respective rotary actuator 140 that actuates the joint 130.

[0174] The drive mechanisms 140 can be stepper motors or spring hinges. Each drive mechanism 140 controls the boom segment orientation 129 of the boom segment 120 connected to a dedicated rotatable joint 130 by rotating the dedicated rotatable joint 130.

[0175] The drive mechanism 140 may be primarily located on either the proximal joint piece 134 or the distal joint piece 136. The drive mechanism 140 may include a post extending from the joint piece on which it is located that interfaces with the corresponding other joint piece, for example via a gear assembly. The drive mechanism 140 may rotate the post, thereby rotating the proximal joint piece 134 relative to the distal joint piece 136 (i.e., the joint that is to rotate).

[0176] The system 100 also includes one or more retention and release mechanisms (HRMs) 118 .

[0177] HRM 118 is referred to herein individually as HRM 118 and collectively as HRM 118.

[0178] Each HRM 118 is configured to releasably hold or secure a component to the space vehicle 101. The HRM 118 can secure its components in a stowed configuration (e.g., for launch, prior to use, etc.). The HRM 118 includes one or more HRMs for securing the reflector 106. The HRM 118 includes one or more HRMs for securing the boom 103. One HRM 118 can releasably hold multiple components, and components can be releasably held by multiple HRMs 118.

[0179] Releasing the HRM, also referred to as releasing the HRM 118, releases the HRM 118's hold on the held component. Once the hold is released, the component can transition to another configuration without substantial interference from the HRM 118.

[0180] 2A and 2B, there is shown a schematic perspective view of a system 200 for compact storage and deployment of an antenna on a space vehicle, according to one embodiment.

[0181] Figure 2A shows the antenna in a stowed configuration and Figure 2B shows the antenna in a deployed configuration. System 200 is one embodiment of system 100 of Figure 1A. Corresponding components in system 200 are given similar reference numbers, increased by 100 from those in Figure 1A. Corresponding components in system 200 are understood to be similarly configured and perform the same or similar functions as those in Figure 1A, unless otherwise noted.

[0182] Reference is also made to Figures 2C and 2D, which show the boom 203 of Figures 2A-2B isolated and in stowed (2C) and deployed (2D) configurations, respectively.

[0183] The system 200 includes a space vehicle platform 204. The antenna is disposed on the platform 204 and includes a feeder 208, an antenna reflector 206, and a multi-axis boom 203.

[0184] The multi-axis boom 203 includes four boom segments 220-1, 220-2, 220-3, 220-4 and four rotatable joints 230-1, 230-2, 230-3, 230-4.

[0185] Rotatable joint 230-1 rotatably connects boom 203 at its proximal end 205 to side 212 of platform 204 via platform connector 216.

[0186] The rotatable joint 230-2 rotatably connects the first boom segment 220-1 to the second boom segment 220-2.

[0187] The rotatable joint 230-3 rotatably connects the second boom segment 220-2 to the third boom segment 220-3.

[0188] Rotatable joint 230-4 rotatably connects the third boom segment 220-3 to the fourth boom segment 220-4.

[0189] The fourth boom segment 220-4 is fixedly connected to the reflector 206 via a reflector connector (not shown).

[0190] The boom segment 220 is sized and shaped in a stowed configuration to fit within a compact volume of a space vehicle.

[0191] Thus, the boom segment 220 is sized and shaped such that in the stowed configuration, the stowable equipment 206 is stowed on the nadir deck.

[0192] For example, in the stowed configuration, the reflective surface 211 (not shown in FIG. 2A) of the reflector 206 is disposed parallel to, centered on, and with minimal offset therefrom the nadir deck 210.

[0193] The boom segments 220 are further sized such that, in the stowed configuration, the boom segments 220-1, 220-2, and 220-3 avoid extending substantially beyond the nadir deck 210 or sides 212 so that the equipment fits within the launch envelope.

[0194] In accordance with the procedure, the boom segments 220 are sized to maximize the available range of positions and orientations of the storable equipment 206 via the deployed configuration of the multi-axis boom 203.

[0195] Thus, the boom segment lengths 228-1, 228-2, and 228-3 are sized based on the height 213 of the side 212.

[0196] The boom segments 220 may be further configured to accommodate fixtures 216 located at strong points, such as edges, of the platform 204. The boom segments 220 may be further configured to avoid (i.e., eliminate) deployment interference.

[0197] Interference avoidance can occur with features positioned based on the configuration of the boom segments 220. For example, the boom segments 220 can be configured to position the boom HRM outside of the deployment path.

[0198] In some embodiments, the configuration of the boom segments 220 can be configured based on mission parameters in addition to or instead of the above considerations. For example, some missions may require a certain size and / or shape of the space vehicle at launch that requires the stowed equipment 206 to be located off-center from the nadir deck 210. These mission parameters may be for a particular phase, such as during deployment, during a particular operation or task, during launch, or during recovery.

[0199] In an example stowed configuration, as shown in FIG. 2A, rotatable joint 230-1 is configured with rotations to position boom segment 220-1 in a zero degree boom segment orientation 229-1 (i.e., boom segment 220-1 is substantially parallel to side 212). Rotatable joints 230-2 and 230-3 are configured with rotations to position boom segments 220-2 and 220-3 in substantially 180 degree boom segment orientations 229-2 and 220-3 (i.e., boom segments 220-2 and 220-3 are in continuously alternating directions consistent with boom segment 220-1). In this configuration, boom segments 220-1, 220-2, and 220-3 are positioned substantially in contact with side 212. Rotatable joint 230-4 is configured with rotations to position boom segment 220-4 in a boom segment orientation 229-4 such that reflective surface 211 is parallel to nadir deck 210.

[0200] It will be appreciated that boom segment orientations 229-2 and 229-3 may be offset from 180 degrees (potentially with equal and opposite rotations) to avoid interference with each boom segment 220-1, 220-2, and 220-3 and any or all of the rotatable joints 220-2 and 220-3 and the remaining boom segment 220. For example, the offset may be 8 degrees, with boom segment orientation 229-2 being 172 degrees and boom segment orientation 229-3 being -172 degrees (or 188 degrees).

[0201] In the deployed configuration, rotatable joint 230 is configured to achieve boom segment orientations 229-1 to 229-4 and corresponding multi-axis boom 203 configurations that are compatible with mission parameters. For example, rotatable joint 230 can be configured to achieve a desired antenna geometry by placing (positioning and pointing) reflector 206 at a predetermined location relative to feed horn 208. Configuring rotatable joint 230 can include any rotation about rotation axes 232-1 to 232-4 that does not result in interference between the platform, multi-axis boom 203, and stowing equipment 206.

[0202] In one example deployed configuration, as shown in FIGURE 2B, rotatable joint 230-1 is configured with a rotation that places boom segment 220-1 at a boom segment orientation 229-1 of 135 degrees. Rotatable joints 230-2 and 230-3 are configured with a rotation that places boom segments 220-2 and 220-3 at boom segment orientations 229-2 and 229-3 of zero degrees. In this configuration, boom segments 220-1, 220-2, and 220-3 are parallel and coplanar.

[0203] 3A and 3B, therein are shown schematic views of a multi-axis boom 303 from a side in a stowed configuration and from a perspective in a deployed configuration, respectively, according to one embodiment. The multi-axis boom 303 is one embodiment of the multi-axis boom 103 of FIG. 1A. The multi-axis boom 303 is understood to be configured similarly to the multi-axis boom 103 of FIG. 1A and its corresponding components, unless otherwise noted.

[0204] The multi-axis boom 303 includes three boom segments 320 and four rotatable joints 330. Rotatable joint 330-1 rotatably connects the multi-axis boom 303 to the fixture 316. Rotatable joint 330-1 is rotatable about axis of rotation 332-1. Rotatable joint 330-2 rotatably connects the boom segment 320-1 to the boom segment 320-2. Rotatable joint 330-2 is rotatable about axis of rotation 332-2. Rotatable joint 330-3 rotatably connects the boom segment 320-2 to the boom segment 320-3. Rotatable joint 330-3 is rotatable about axis of rotation 332-3. Rotatable joint 330-4 is connected to the boom segment 320-3. Rotatable joint 330-4 is connectable to a stowable device such as the reflector 106 of FIG. 1A via an interface 338. The rotatable joint 330-4 is rotatable about a rotation axis 332-4a and a rotation axis 332-4b.

[0205] Rotation axis 332-4a is misoriented relative to rotation axis 332-4b in at least one dimension. The misorientation is such that rotation axis 332-4a is oblique or perpendicular / perpendicular (i.e., not parallel) to rotation axis 332-4b. When multi-axis boom 303 is connected to a reflector-storing device, this misorientation accommodates trimming in elevation and / or azimuth independently.

[0206] It is expressly contemplated that any or all of the rotatable joints 330 may include multiple rotation axes 332-#. These rotation axes may be substantially collocated (as shown) or separated by an offset, for example, via a structural element of the rotatable joint 330. It is further expressly contemplated that any or all of the rotation axes 332 may be aligned (i.e., parallel in all dimensions) with the remaining rotation axes of the same rotatable joint 330 or of other rotatable joints 330 of the multi-axis boom 303.

[0207] In some embodiments, rotation of the rotatable joints 330 about each axis of rotation 332 is independently actuated by an actuator dedicated to that axis of rotation 332. In some embodiments, rotation of the rotatable joints 330 about multiple axes of rotation 332 is actuated by a single actuator.

[0208] 4A and 4B, there is shown a system 400 for compact storage of two antennas on a space vehicle, according to one embodiment.

[0209] System 400 is shown in a stored configuration in FIG. 4A and in a (primary) deployed configuration in FIG. 4B.

[0210] The system 400 includes first and second antennas 402-1 and 402-2 disposed on a space vehicle platform 404. The platform 404 includes platform sides 412-1 and 412-2 and a nadir deck 410.

[0211] Although in the embodiment of Figures 4A and 4B the multi-axis boom and antenna are on opposite sides of the platform, in other embodiments they may be on the same side or adjacent sides.

[0212] The first antenna 402-1 includes a feeder 408-1 and a reflector 406-1 connected to a multi-axis boom 403-1. The boom 403-1 is attached at one end to the reflector 406-1 and at a second end to a side panel 412-1. The feeder 408-1 is attached to the side platform panel 412-1.

[0213] The second antenna 402-2 includes a feeder 408-2 and a reflector 406-2 connected to a multi-axis boom 403-2. The boom 403-2 is attached at one end to the reflector 406-2 and at a second end to a side panel 412-2. The feeder 408-2 is attached to the side platform panel 412-2.

[0214] Both multi-axis booms 403-1 and 403-2 are four-axis booms including three boom segments connected end-to-end to the other boom segments by four rotatable joints. In some embodiments, the multi-axis boom can be a five-axis boom that further includes a rotatable joint that allows for trimming of the reflector, as described herein. In other embodiments, the multi-axis boom can have as few as two axes or more than five axes.

[0215] 4A, the reflectors 406-1, 406-2 are in a "dual stack" configuration in which the reflectors 406-1, 406-2 are stacked on top of each other facing the nadir deck 410. The reflectors 406-1, 406-2 are secured to the nadir deck 410 by HRMs 418-1, 418-2.

[0216] 4A , the booms 402-1, 402-2 are in their respective stowed configurations. The booms, through the operation of the constituent boom segments and rotatable joints, are configured to fold in a manner that positions the folded booms proximate their respective sides 412-1, 412-2 and positions the attached reflectors 406-1, 406-2 proximate the nadir deck 410 (by effectively stacking the reflectors) to minimize and / or optimize the volume occupied by the components of the antenna 402 when stowed.

[0217] The boom segment 420-4 of the second multi-axis boom 403 is oriented at an angle that positions the second storable equipment 406-2, in the stowed configuration, closer to the nadir deck 410 (i.e., at a smaller offset 411) than the offset 411 of the first storable equipment 406-1 and is secured to the second storable equipment 406-2.

[0218] 5, there is shown a method 500 of deploying a stowing device via a multi-axis boom (i.e., deployment sequence 500) according to one embodiment. As above, the stowing device can be at least one antenna or at least one antenna component (e.g., a reflector), and the stowing device can be on a space vehicle / spacecraft.

[0219] The multi-axis boom and stowable equipment may be the multi-axis boom 103, 203, 303, 403-1, and / or 403-2 and stowable equipment 106, 206, 406-1, and / or 406-2 of Figures 1A through 4B.

[0220] Unfolding the storable device configures the storable device into a deployed configuration, such as an antenna geometry.

[0221] 6A-6H, there is shown a schematic side view of a system 600 for compact storage on a space vehicle in various configurations according to a deployment sequence 500, according to one embodiment. System 600 can be similar to system 100, system 200, or system 400.

[0222] 5, at 502, the deployment sequence 500 can include releasing a first storable equipment. Releasing the first storable equipment can include releasing a storable equipment HRM that releasably holds the first storable equipment. It will be appreciated that each of these released storable equipment HRMs can releasably hold more than one storable equipment. Each releasable hold of each individual boom HRM can be configured to release the held components simultaneously or independently, e.g., sequentially.

[0223] In other embodiments, the storable device may not be held by the HRM, and therefore it is not necessary to release the storable device (as indicated by the dashed line in box 502).

[0224] At 504, the deployment sequence 500 includes an initial deployment of the stowable equipment deployment. The initial deployment includes removing the stowable equipment from the platform of the space vehicle such that the stowable equipment continues to deploy sufficiently far from the platform. Removing the stowable equipment can include rotating the distal rotatable joint to orient the distal boom segment and the stowable equipment away from the side of the platform against which the stowable segment is in contact and stowed.

[0225] Referring again to Figure 6A, storable device 606 (not labeled in Figures 6B-6H) is configured in initial deployment 652a. In initial deployment 652a, rotatable joint 630-4 is configured at approximately 30 degrees of rotation from the storable configuration of rotatable joint 630-4. This configuration is also seen in Figure 2A.

[0226] 5, at 506, the deployment sequence 500 may include releasing the first multi-axis boom. Releasing the first multi-axis boom may include releasing a boom HRM that releasably holds the first multi-axis boom. It will be appreciated that each of these released boom HRMs may releasably hold more than one multi-axis boom or multiple components of the first multi-axis boom. Each releasable hold of each individual boom HRM may be configured to release the held components simultaneously or independently, e.g., sequentially.

[0227] In other embodiments, the multi-axis boom may not be held by the HRM, and therefore it is not necessary to release the multi-axis boom (as indicated by the dashed line in box 506).

[0228] At 508, the deployment sequence 500 includes deploying a first multi-axis boom. Deploying the first multi-axis boom includes rotating a rotatable joint of the first multi-axis boom. The rotation of each and every rotatable joint can be any rotation that does not cause the multi-axis boom and stowable equipment to interfere with themselves or other objects, including the platform. By determining and implementing various rotations, the multi-axis boom accommodates a range of deployed configurations. Thus, the connected stowable equipment can be configured in a range of positions and orientations. This range of positions and orientations advantageously accommodates a range of missions, tasks, and / or operations.

[0229] The rotations can be determined in advance, for example, the deployed configuration can be tested on Earth prior to launch, and the rotations that achieve the orientation of the boom segments in the deployed configuration can be recorded during testing and then re-implemented or implemented on the same or a similar space vehicle once the space vehicle is in the field (i.e., in orbit and / or in space).

[0230] The rotation can further be determined remotely. The remote determination of parameters can be based on modeling, such as physical or computer modeling. A multi-access boom that can be configured remotely based on modeling advantageously accommodates development and testing even when the space vehicle is deployed or in other phases, such as physically launched. Remote determination can also allow for easier and controlled testing than on-site determination, since modeling can be performed in an environment that is more controllable and easier to access and work in, for example, on Earth or in a computerized environment.

[0231] Referring again to Figures 6B-6D, the first storable device 606 is configured (i.e., deployed) in a deployed configuration 652d as shown in Figure 6D. Intermediate deployment configurations 652b and 652c, corresponding to rotations of rotatable joints 630-1 and 630-2, respectively, are shown in Figures 6B and 6C, respectively. In configurations 652b-652d, rotatable joint 630-1 has rotated approximately 135 degrees, rotatable joint 630-2 has rotated approximately 172 degrees, and rotatable joint 630-3 has rotated approximately -172 (i.e., 188) degrees, respectively, from the stowed configurations of rotatable joints 630-1, 630-2, and 630-3 as shown in Figure 6A (and Figure 2A). The illustrated degrees of rotation are merely examples and are not meant to limit the configurations. It will be understood that rotations can be performed in orders and / or simultaneously other than those depicted.

[0232] 5, 502 through 508 can be repeated for additional multi-axis booms. It will be appreciated that the configuration and specifically the rotation of the rotatable joints can vary across the multi-axis booms. These differences can be based, for example, on differences in the physical configuration and / or placement of each multi-axis boom, external factors (i.e., environment) that affect the various multi-axis booms differently, and / or different missions, tasks, or operations being performed.

[0233] Referring again to Figures 6E-6H, the second storable device 609 has been deployed to a deployed configuration. In configurations 662e-662h, from the storable configurations of rotatable joints 631-4, 631-1, 631-2, and 631-3 shown in Figure 6A, rotatable joint 631-4 has rotated approximately -30 (330) degrees, rotatable joint 631-1 has rotated approximately -135 (225) degrees, rotatable joint 631-2 has rotated approximately -172 (188) degrees, and rotatable joint 631-3 has rotated approximately 188 degrees, respectively. As above, the illustrated degrees of rotation are examples and not limiting configurations. It will be understood that rotations can be performed in orders and / or simultaneously other than those depicted.

[0234] Referring again to FIG. 5, at 510, the deployment sequence may include transitioning the multi-axis boom from a first deployed configuration to a second deployed configuration.

[0235] The mission, task, operation and / or performance of the stowable equipment may be changed / improved by transitioning the multi-axis boom from the first deployed configuration to the second deployed configuration.

[0236] As above, in one example, the storable device is an antenna reflector that transitions from a first position and / or orientation to a second position and / or orientation to zoom, trim, steer, align, realign, or maintain a corresponding antenna (i.e., reposition to distribute environmentally based wear).

[0237] Zooming is used to change the focal length (e.g., shorten or lengthen) and therefore change the beam diameter. When used in conjunction with phase, zooming can advantageously reduce the effects of scan loss.

[0238] Trimming is used to improve radio frequency (RF) performance by moving the mission boresight to find the position where gain is maximized. Maximizing gain mitigates the effects of certain misalignment errors. For example, stowable equipment may initially be placed in a location based on tests performed on Earth. The location that will achieve optimal performance in the field (i.e., in space) may be slightly different. Trimming optimizes in-field performance by placing the stowable equipment accordingly.

[0239] By rotating the rotatable joints, this transition can be accomplished without any physical modification external to the space vehicle. For example, each rotatable joint can be rotated to place the antenna reflector closer to the platform (i.e., with a shorter focal length). The rotatable joints can be used to modify the antenna geometry to advantageously zoom the antenna by shortening the focal length.

[0240] At 512, the deployment sequence from 502 to 510 may be reversed to configure the space vehicle to a stowed configuration (i.e., stow the space vehicle). Specifically, the rotatable joints may be rotated such that the orientation of the boom segments is returned to that of the stowed configuration. In some embodiments, the HRM is single use and returning to the stowed configuration does not include holding the stowable equipment and / or the multi-axis boom with the HRM, rather the multi-axis boom holds the stowable equipment in place. In other embodiments, the multi-axis boom and stowable equipment may be re-secured by the same or a different HRM (from the original holding).

[0241] 7A-7C, there is shown a schematic diagram of zooming and trimming an antenna via a multi-axis boom, according to one embodiment.

[0242] Figure 7A shows a space vehicle 701 with an antenna 702 in an initial configuration 702a. Figure 7B shows the antenna 702 in a zoom configuration 702b. Figure 7C shows the antenna 702 in a trimming configuration 702c.

[0243] Antenna 702 may be a single offset antenna. Antenna 702 may be a Gregorian antenna with a sub-reflector mounted on a spacecraft or another multi-axis deployable boom system.

[0244] Antenna 702 includes a multi-axis boom 703. Multi-axis boom 703 may be boom 103 of FIG. 1A.

[0245] A multi-axis boom 703 is connected at a first (proximal) end to a platform 704 of the space vehicle 701 and at a second (distal) end to a reflector 706 of an antenna 702. The antenna 702 also includes a feed (not shown).

[0246] Multi-axis boom 703 is connected to platform 704 and reflector 706 via rotatable joints 730-1 and 730-4, respectively.

[0247] The multi-axis boom 703 includes multiple boom segments 720-1, 720-2, 720-3.

[0248] Boom segments 720-1 and 720-2 are connected via rotatable joint 730-2.

[0249] Boom segments 720-2 and 720-3 are connected via rotatable joint 730-3.

[0250] Because rotatable joints 730-2, 730-3 are not at the ends of boom 703, they may be referred to as intermediate rotatable joints.

[0251] Boom segments 720-1 to 720-3 are oriented differently by action of rotatable joints 730-1 to 730-4.

[0252] By rotating the rotatable joints 730-1 to 730-4, the boom segments 720-1 to 720-3 can be reoriented to change the placement of the reflector 706.

[0253] In the embodiment of FIGS. 7A-7C, rotatable joint 730-4 is configured to rotate about an axis that is not aligned with the rotation axes of the other rotatable joints 730.

[0254] Referring to FIG. 7B, the antenna 702 is in a "zoomed" configuration 702b relative to the initial configuration 702a.

[0255] Specifically, the multi-axis boom 703 is configured such that the reflector 706 is closer to the platform compared to the reflector 706 in the initial configuration 702a. Thus, the antenna 702 in the zoom configuration 702b has a different focal length than the antenna 702 in the initial configuration 702a.

[0256] The reflector 706 in the zoom configuration 702b approaches the platform 704 by rotating the rotatable joint 730 such that the relative angle between adjacent boom segments 720 changes.

[0257] 7C, the antenna 702 is in a "trimmed" configuration 702c relative to the initial configuration 702a. The trimmed configuration 702c has been trimmed in elevation.

[0258] Trimming configuration 702c is achieved by rotating rotatable joint 730-4 about an axis of rotation that is misaligned with at least one axis of rotation of each of the remaining rotatable joints 730. For example, the axis of rotation of rotatable joint 730-4 can be orthogonal to the axes of rotation of rotatable joints 730-1, 730-2, and 730-3.

[0259] It will be understood that this rotatability of rotatable joint 730-4 does not necessarily preclude rotation in other axes of rotation in line with the remaining rotatable joints, i.e., rotatable joint 730-4 may be rotatable in more than one axis.

[0260] It will be further appreciated that although the trimming illustrated is accomplished via distal rotatable joint 730-4, in some embodiments trimming is accomplished by any or all of rotatable joints 730.

[0261] In some embodiments, the antenna 702 can be zoomed and trimmed using a combination of rotations to achieve the first deployed configuration 702a to the second deployed configuration 702b and the third deployed configuration 702c.

[0262] Other combinations, including rotation for alignment, maintenance, collision and wear avoidance, etc., are explicitly contemplated.

[0263] The antenna 702 may include a feed (not shown) at a focal point.

[0264] It will be understood that the sequence and magnitude of rotations may vary upon deployment. For example, stowing the space vehicle may be based on the deployed configuration immediately prior to stowing. When the multi-axis boom transitions from the first deployed configuration to the second deployed configuration, the multi-axis boom and stowing equipment may transition directly to the stowing configuration. There is no need to return the space vehicle to the first deployed configuration. Specifically, these rotations may be a reversal of the rotations that would directly configure the space multi-axis boom to the second deployed configuration. By basing the rotations that achieve a reversal of the deployed configuration immediately prior to stowing, it is possible to avoid causing harmful interference (i.e., a crash) between the multi-axis boom, the stowing and other objects, including the platform.

[0265] In embodiments where the space vehicle includes multiple stowable equipment, stowing, deploying, and configuring a first stowable equipment (or other configurable equipment) may interfere with the stowing or deployment of a second stowable equipment. Thus, a stow or deployment sequence for a second stowable equipment may include configuring the first stowable equipment or other stowable equipment to avoid, at least temporarily, interference between the second multi-axis boom and stowable equipment and other objects, such as the first multi-axis boom and stowable equipment.

[0266] 8, there is shown a flow diagram of a method 800 for deploying first and second antennas on a spacecraft, according to one embodiment, wherein the first and second antennas are mounted on the same spacecraft platform or bus.

[0267] The payload in FIG. 8 is an antenna, but in other embodiments may be any other deployable payload.

[0268] At 802, the method 800 can include deploying a first antenna reflector from a stowed configuration to a deployed configuration. The deployment can use a first multi-axis boom. In one embodiment, the first multi-axis boom is a four-axis boom, such as boom 203 of FIG. 2B.

[0269] At 804, the method 800 includes deploying the second antenna reflector from the stowed configuration to the deployed configuration using a second multi-axis boom. In one embodiment, the second multi-axis boom is a five-axis boom, such as boom 303 of FIG. 3B.

[0270] It is expressly contemplated that the deployment of a first antenna reflector at 802 may be coordinated with the deployment of a second antenna reflector at 804 to avoid interference.

[0271] At 806, the method 800 includes trimming (or steering) the first antenna reflector in elevation. The trimming is performed by adjusting the spacecraft configuration (position and / or orientation). Such adjustments may be performed, for example, by a spacecraft position or attitude control system.

[0272] By adjusting the position of the spacecraft, the first antenna reflector is positioned in a trimmed orientation.

[0273] In some embodiments, the first antenna reflector can be further trimmed by rotating a rotatable joint of the first multi-axis boom, as well as trimming the second antenna reflector, as further described below at 810.

[0274] At 808, the method 800 includes reflecting the first RF signal off the trimmed first antenna reflector.

[0275] At 810, the method 800 includes trimming the second antenna reflector in elevation.

[0276] Trimming is performed by rotating a non-aligned axis of the second multi-axis boom. "Non-aligned" herein refers to rotation of a joint in a direction that is not parallel or "aligned" with the deployment of the boom sections of the multi-axis boom. The non-aligned axis can be the axis of rotation of any rotation joint of the multi-axis boom. That is, for example, trimming can be performed by the rotation joint closest to the antenna reflector, as shown in FIG. 7C, or by any rotation joint along the multi-axis boom that is capable of rotating for trimming.

[0277] It should be noted that in some embodiments, as illustrated and described herein, "aligned" joints are shown as having parallel axes of rotation, while in other embodiments, at least some of the axes of rotation of the joints involved in deployment (or folding / unfolding the boom) may be non-parallel. In general, however, the boom joints involved in deployment, or "aligned" joints, function to move the antenna reflector as a whole away from or towards the spacecraft. This is in contrast to "trimming" or "non-aligned" joints, which have axes of rotation with angles appropriate for trimming and function to change the angle of the antenna reflector relative to the feeder of the antenna (which is located on the spacecraft).

[0278] As an example, a multi-axis boom may include four revolute joints, each with parallel axes of rotation, and the non-aligned axis may be a second axis of rotation of one of the four revolute joints that is offset from the remaining revolute joints.

[0279] In some embodiments, any or all of the joints connecting the boom segments may be capable of rotating along more than one axis.

[0280] It will be appreciated that the trimming at 810 can be to offset or compensate for an unintended or accidental change in the placement of the second antenna reflector, such as a change in the placement of the first antenna reflector due to trimming of the first antenna reflector at 806. If the change to be offset or compensated for is expected, the trimming at 810 can include a preemptive change in the placement of the second antenna reflector to preemptively offset or compensate for the expected change. Examples of when preemptive compensation may occur include when there is a scheduled movement of the spacecraft, including when trimming at 806 is performed after trimming at 810.

[0281] At 812, the method 800 includes reflecting the second RF signal off the trimmed second antenna reflector.

[0282] 9A and 9B, there is shown a system 900 for compact storage and deployment of an antenna on a space vehicle 901, according to one embodiment. Figure 9A shows the antenna in a deployed configuration, and Figure 9B shows the boom 903 of the system 900 in isolation.

[0283] The system 900 includes a space vehicle 901. The antenna includes a feeder 904 mounted on a platform of the space vehicle 901, an antenna reflector 906 for reflecting RF waves to and from the feeder 904, and a boom 903.

[0284] The boom 903 is configured to fold up (a stowed configuration) to store the reflector 906 on the ground or on the nadir deck 910 of the space vehicle 901. In other embodiments, the reflector 906 can be stowed on a side or panel of the space vehicle 901 that is not the nadir deck.

[0285] The boom 903 is also configured to deploy from a stowed configuration to a deployed configuration shown in FIG. 9A.

[0286] The boom 903 includes a spacecraft interface component 912 for mechanically connecting the boom 903 to the space vehicle 901 at one end, and a reflector interface component 914 (see FIG. 9B) for mechanically connecting the boom 903 to the reflector 906 at the other end.

[0287] The boom 903 further includes four boom segments 916-1, 916-2, 916-3, and 916-4 and four joints 918-1, 918-2, 918-3, and 918-4. The boom 903 may be referred to as a four-axis boom. Each of the joints 918 provides an axis of rotation (or axis of rotation) for the boom 903. The axis of rotation may be that of each of the joints 918 that can be driven by a motor (a motorized axis). The joints 918 may be configured to allow only limited angles between components connected by the joints 918. Such limitations of rotation may be different in different implementations and may depend on various considerations. The joints 918 may be considered rotatable joints. Each of the joints 918 may include a rotary actuator to effect or drive the rotation of the respective joint 918. In one embodiment, the joints 918 may use respective stepper motors for deployment. In another embodiment, the joints 918 may use respective spring hinges for deployment. Joint 918, and its respective axis of rotation, can be referred to as a boom fold / unfold joint or boom fold / unfold axis, given its function of folding and unfolding the boom 903 (and as opposed to a joint or axis for trimming, e.g., as in FIG. 10A ).

[0288] The joints 918-1, 918-2, 918-3, and 918-4 are configured to fold the boom 903 to a compact stored configuration in which the reflector 906 is stowed on the nadir deck 910. The joints 918-1, 918-2, 918-3, and 918-4 are configured to unfold the boom 903 from the stowed configuration to a deployed configuration in which the reflector 906 is in a primary deployed position. The deployed position is a fixed deployed position with the possibility to trim or zoom (as described herein) in azimuth through movement of one or more joints 918.

[0289] Joint 918-1 connects boom segment 916-1 to spacecraft interface part 912 and allows boom segment 916-1 to rotate within an allowable angle of rotation relative to spacecraft interface part 912 (which is fixed in position).

[0290] Joint 918-2 connects boom segment 916-2 to boom segment 916-1 and allows boom segment 916-2 to rotate within an allowable angle of rotation relative to boom segment 916-1.

[0291] Joint 918-3 connects boom segment 916-3 to boom segment 916-2 and allows boom segment 916-3 to rotate relative to boom segment 916-2 within an allowable angle of rotation.

[0292] Joint 918-4 connects boom segment 916-4 to boom segment 916-3 and allows boom segment 916-4 to rotate within an allowable angle of rotation relative to boom segment 916-3.

[0293] In the embodiment shown in FIGS. 9A-B, the axes of rotation of the joints 918-1 through 918-4 are parallel to each other. In other embodiments, the axes of rotation of the joints 918-1 through 918-4 may be parallel or non-parallel. Note that parallel / non-parallel may also refer to a given axis of rotation relative to the side on which the boom 903 is deployed (as in FIG. 9A). In one embodiment, the joints 918-1 through 918-4 (for folding / unfolding the boom 903) may include multiple parallel axes of rotation and at least one non-parallel axis of rotation. In one particular embodiment, the at least one non-parallel axis of rotation includes a distal folding / unfolding axis (i.e., a distal folding / unfolding joint, which is the joint (i.e., joint 918-4) closest to the reflector 906 used to fold / unfold the boom 903).

[0294] Boom segment 916-4 is further fixedly connected to reflector interface component 914, attaching boom 903 to reflector 906.

[0295] 9A-9B, it should be noted that joint 918 is configured such that joints 918-1 and 918-2 both position the rotating boom segments on the same side of joint 918, while joints 918-3 and 918-4 both position the rotating boom segments on the same, but opposite, side of joint 918 from joints 918-1, 918-2. In other embodiments, such positioning of rotating components relative to the joints may vary.

[0296] In operation, the boom 903 can be deployed from a stowed configuration as shown in Figures 6A-6D or 6E-6H.

[0297] As shown in FIG. 9A, once the boom 903 is deployed in a deployed configuration and the reflector 906 is in a primary deployment position, the joint 918 can be used to change the distance of the reflector 906 from the space vehicle 901, thereby changing the focal length of the antenna. This can be referred to as a secondary reflector position (i.e., a position different from the primary deployment position). For example, the joint 918 can be actuated to modify the angle between adjacent boom segments 916 to achieve optimal placement of the reflector 906 relative to the space vehicle. An example of this is shown in FIGS. 7A-7B. Such zooming operations can be performed on-orbit. Similarly, the joint 918 can be actuated to increase the angle between adjacent boom segments 916 to move the reflector 906 further away from the space vehicle 901.

[0298] Additionally, as shown in FIG. 9A, when the boom 903 is deployed to the deployed configuration and the reflector 906 is in the deployed position, the antenna can be trimmed in azimuth using joint 918-4.

[0299] 10A, there is shown a system 1000 for compact storage and deployment of an antenna on a space vehicle 1001, according to one embodiment. Figure 10A shows the antenna in a deployed configuration.

[0300] System 1000 is a variation of system 900 of Figure 9A. Corresponding components that perform the same or similar functions in system 1000 as system 900 are given the same last two digits (i.e., 9xx, 10xx). Some corresponding components may not be described in reference to Figure 10A.

[0301] System 1000 includes a space vehicle 1001 with a nadir deck 1010, an antenna feed 1004, a reflector 1006, and a boom 1003. As in system 900, the boom 1003 is configured to fold and unfold via joint 1018 to respectively stow the reflector 1006 (on the nadir deck 1010) and deploy the reflector to a primary deployed position.

[0302] In the system 1000, the boom 1003 includes one less boom segment and an additional joint 1018-5. The boom 1003 may be referred to as a five-axis boom. The joint 1018-5 may be structurally and functionally similar to the joint 918 of Figures 9A-9B unless otherwise noted.

[0303] As with system 900 of FIGS. 9A-9B, joints 1018-1 through 1018-4 used to fold / unfold boom 1003 have axes of rotation that may be parallel or non-parallel relative to one another.

[0304] Joint 1018-4 connects joint 1018-5 to boom segment 1016-3 and allows joint 1018-5 to rotate within an allowable angle of rotation relative to boom segment 1016-3.

[0305] Joint 1018-5 connects reflector interface part 1014 to joint 1018-4, allowing reflector interface part 1014 (and therefore the reflector 1006 to which it is fixedly connected) to rotate within an allowable angle of rotation relative to joint 1018-4.

[0306] 10A-B, it should be noted that joints 1018-1 through 1018-4 are configured such that joints 1018-1 and 1018-2 position the boom segments they are rotating with on the same side of joint 1018, while joints 1018-3 and 1018-4 position the boom segments or joints they are rotating with on the same, but opposite, side of joint 1018 from joints 1018-1, 1018-2. In other embodiments, this positioning of rotating parts relative to the joints may vary.

[0307] Joint 1018-4 can be used to trim the antenna along the axis of rotation of joint 1018-4 as well as to spread the antenna out. Trimming and spreading with joint 1018-4 are the same movement, trimming refers to a finer movement intended to properly align the reflector with the feed 1004.

[0308] Joint 1018-5 has an axis of rotation that is non-parallel to the axis of rotation of joint 1018-4. The rotation that can be imparted to reflector interface part 1014 by joint 1018-5 is indicated by dashed line 1020.

[0309] The axis of rotation of joint 1018-5 can be configured at any angle relative to the axis of rotation of joint 1018-4 that is suitable for trimming (i.e., the angle for trimming). In one embodiment, this angle is 90 degrees. In one embodiment, this angle is at or near 90 degrees. In one embodiment, this angle is in the range of 80 degrees to 90 degrees (e.g., 80, 85, etc.). In general, the closer the angle is to 90 degrees, the better the trimming will be.

[0310] The joint 1018-5 can be used to trim the antenna (e.g., while on orbit). Thus, the joint 1018-5 can be actuated to move the reflector 1006 from its primary deployed position, as in Figure 10A, to a secondary deployed position (trimmed position), e.g., by rotating along 1020. An example of such trimming is shown in Figures 7A and 7C.

[0311] In FIG. 10A, joint 1018-4 is described as a trimming joint (as well as a folding joint), but in other embodiments, any of the folding joints can be a trimming joint as long as the axis of rotation of the folding joint is suitable for trimming relative to the axis of rotation of a fifth trimming joint (e.g., joint 1018-5).

[0312] 9A-9B and 10A-10B depict four-axis and five-axis booms, respectively, and several boom segments and axes of rotation, it should be understood that other embodiments may include similar configurations or designs, but use a different number of boom segments or axes of rotation. For example, the configuration of joints 1018-4 and 1018-5 in system 1000 may be used at the end of a boom (i.e., connected to a reflector) with a different number of boom segments, or at different locations along the length of the boom (e.g., between boom segments).

[0313] Although the above description provides one or more example devices, methods, or systems, it will be understood that other devices, methods, or systems may be within the scope of the claims as interpreted by one of ordinary skill in the art. [Explanation of symbols]

[0314] 100 Systems 101 Space Vehicle 102 Antenna 103 Multi-axis boom 104 Platform 105 Proximal end 106 Reflector 107 Distal end 108 Feed, supply device 110 Nadir Deck 112 Side 116 Fixtures 118 Retention and Release Mechanism, HRM 120 Boom Segment 122 Boom segment proximal end 124 Boom segment distal end 126 Boom segment axis 128 Boom segment length 129 Boom Segment Orientation 130 Rotatable joint 132 Rotational Axis 134 Proximal Joint Piece 136 Distal Joint Piece 140 Drive mechanism 200 Systems 203 Multi-axis boom 204 Platform 205 Proximal end 206 Reflector 208 Feed horn, supply device 210 Nadir Deck 211 Reflective Surface 212 Side 213 Height 216 Platform Connector 220 Boom Segment 220-1 First Boom Segment 220-2 Second Boom Segment 220-3 3rd Boom Segment 220-4 4th Boom Segment 228 Boom segment length 229 Boom Segment Orientation 230 Rotatable joint 232 Rotational Axis 303 Multi-axis boom 316 Fixtures 320 Boom Segment 330 Rotatable Joint 332 Rotational Axis 338 Interface 400 Systems 402-1 First Antenna 402-2 Second Antenna 403 Multi-axis boom 404 Platform 406 Reflector 408 Feeding device 410 Nadir Deck 411 Offset 412 Platform side 418 HRM 420 Boom Segment 500 Deployment Sequence 600 System 606 First storable device 609 Secondary storage device 630 Rotatable Joint 631 Rotatable Joint 652a initial deployment Configuration between 652b and 652c 652d Deployment configuration 662e~662h configuration 701 Space Vehicle 702 Antenna 702a initial configuration 702b Zoom Configuration 702c Trimming Configuration 703 Multi-axis boom 704 Platform 706 Reflector 720 Boom Segment 730 Rotatable Joint 900 System 901 Space Vehicle 903 Boom 904 Feeding device 906 Reflector 910 Nadir Deck 912 Spacecraft interface parts 914 Reflector interface parts 916 Boom Segment 918 Joint 1000 Systems 1001 Space Vehicle 1003 Boom 1004 Antenna feed device, feed 1006 Reflector 1010 Nadir Deck 1014 Reflector interface parts 1016 Boom Segment 1018 Joint

Claims

1. 1. A method for stowing and deploying an antenna, comprising: stowing an antenna reflector on a spacecraft platform with a multi-axis boom, the multi-axis boom being foldable at a plurality of joints; releasing a first set of retention and release mechanisms (HRMs) that secure the antenna reflector to the spacecraft platform; deploying the antenna reflector into a deployed position by sequentially unfolding the boom at the joint to reflect radio frequency (RF) waves to or from a feeding device; A method comprising:

2. 2. The method of claim 1, wherein the antenna reflector is stowed on a nadir deck of the spacecraft platform, and the boom, when folded, positions the antenna reflector parallel or nearly parallel to the nadir deck.

3. The method of claim 1 , wherein sequentially spreading the boom at the joints includes spreading the boom through at least three joints.

4. 10. The method of claim 1, further comprising actuating at least one of the joints of the boom to move the antenna reflector closer to or farther from the spacecraft platform to change a focal length of the antenna.

5. The method of claim 1 , wherein the boom includes a trimming joint, and the antenna is trimmed by rotating the antenna reflector by the trimming joint.

6. The method of claim 5 , wherein the trimming joint trims the antenna in elevation by rotating the trimming joint.

7. 7. The method of claim 6, further comprising trimming the antenna in azimuth with at least one of the plurality of joints, wherein an axis of rotation of the trimming joint and an axis of rotation of the at least one of the plurality of joints are substantially orthogonal.

8. The antenna is a first antenna, the antenna reflector is a first antenna reflector, and the method further comprises the steps of: for a second antenna on the spacecraft platform: stowing a second antenna reflector on the spacecraft platform with a second multi-axis boom, the second multi-axis boom being foldable at a plurality of joints; releasing a second set of retention and release mechanisms (HRMs) securing the second antenna reflector to the spacecraft platform; deploying the second antenna reflector to a deployed position by sequentially unfolding the second boom at the joint to reflect radio frequency (RF) waves to or from a second feeding device; and performing The method of claim 1 , wherein the second antenna reflector and the first antenna reflector are stacked on top of each other when stored.

9. The method of claim 8 , wherein the first antenna reflector and the second antenna reflector are stowed on a nadir deck of the spacecraft platform.

10. The method of claim 9 , wherein the first antenna and the second antenna deploy on opposite sides of the spacecraft platform.

11. 1. A system for stowing and deploying an antenna on a spacecraft, comprising: A supply device for transmitting and / or receiving radio frequency (RF) waves; an antenna reflector for reflecting the RF waves to or from the feeding device; a boom attached to the antenna reflector and to the spacecraft, the boom including a plurality of joints for folding the boom to store the antenna reflector and sequentially unfolding the boom to deploy the antenna reflector to a deployed position; A system comprising:

12. 12. The system of claim 11, wherein the boom includes an additional joint for trimming the antenna, the additional joint having an axis of rotation that is non-parallel to a parallel axis of rotation for unfolding the boom.

13. The system of claim 12 , wherein the additional joint is for trimming in elevation.

14. 12. The system of claim 11, wherein the boom includes at least two boom segments and three joints connected in series, one of the three joints being either (i) coupled to a third boom segment that is fixedly attached to the antenna reflector, or (ii) coupled to a fourth joint that is coupled to the antenna reflector and rotates along an axis of rotation that is non-parallel to the one of the three joints.

15. The system of claim 14 , wherein rotation of the fourth joint trims the antenna in elevation.

16. 12. The system of claim 11, wherein the antenna reflector is stowed on a nadir deck of the spacecraft platform, and the boom, when folded, positions the antenna reflector parallel or nearly parallel to the nadir deck.

17. The system of claim 11 , wherein sequentially spreading the boom at the joints includes spreading the boom through at least three joints.

18. 12. The system of claim 11, wherein the boom adjusts a focal length of the antenna by actuating at least one of the joints to move the antenna reflector closer to or farther from the spacecraft platform.

19. The antenna is a first antenna, and the system further includes a second antenna, the second antenna comprising: a second supply for transmitting and / or receiving a second set of radio frequency (RF) waves; a second antenna reflector for reflecting the second set of RF waves to or from the second feed; a second boom attached to the second antenna reflector and to the spacecraft, the second boom including a second plurality of joints for folding the second boom to store the second antenna reflector on top of the antenna reflector of the first antenna and unfolding the boom to deploy the second antenna reflector to a second primary deployment position; The system of claim 11 , comprising:

20. 20. The system of claim 19, wherein the first antenna and the second antenna deploy on opposite sides of the spacecraft platform.

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