MOVABLE PLATFORM FOR VEHICLE CAPTURE ASSEMBLIES AND ASSOCIATED DEVICES, ASSEMBLIES, SYSTEMS, AND METHODS

Abstract

A moveable platform for use with a vehicle capture assembly of a capture vehicle, and related devices, systems, and methods, includes floors having rotatable legs extending therebetween, wherein rotation of the legs relative to one or more of the floors allows the moveable platform to move from an initial position to a displaced position when one or more of the floors move relative to one another.

Description

[Technical Field]

[0001] The present disclosure relates to systems, devices, assemblies, apparatus, and methods for vehicle (e.g., spacecraft) docking. In some embodiments, the present disclosure includes a probe movement feature, such as a movable platform, for use with a vehicle capture assembly for engaging an associated vehicle, and related devices, systems, and methods. [Background technology]

[0002] Docking assemblies and devices may be utilized to mechanically connect two or more vehicles (e.g., spacecraft) to one another. Such spacecraft may be vehicles designed for short-term spaceflight (e.g., self-propelled vehicles) and / or may be configured to reside in space for extended periods of time. The spacecraft may be intended to perform a specific function in a space mission, such as providing resources to a target vehicle and / or altering the orbit of the target vehicle. In some cases, the spacecraft may be a space station, a satellite, or another suitable structure.

[0003] The connection of two or more spacecraft may enable the transfer of resources from one spacecraft to another. For example, a spacecraft may dock with a space station to deliver crew and resources. In another example, a spacecraft may dock with a satellite to perform maintenance and repair of one or more components of the satellite. In yet a further example, a spacecraft may dock with another vehicle to provide a specific mission function, such as descent to or ascent from a celestial body, or to travel to a selected location for a mission.

[0004] Conceptualized methods for docking to spacecraft consist of complex mechanical apparatus. However, the mechanical complexity present in many of the above designs, particularly those associated with multi-axis servo motors and robotic control systems, increases the likelihood of component failure, which can result in the docking and maintenance process failing. Furthermore, the relative motion that exists between the docked vehicles and that is imposed on the vehicles and docking assemblies can compromise the docking procedure and may cause damage to one or more of the vehicles and their respective docking assemblies. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] U.S. Patent Application Publication No. 2021 / 0339893 [Patent Document 2] U.S. Patent No. 11,104,459 Summary of the Invention [Means for solving the problem]

[0006] In some aspects, the disclosure described herein relates to a movable platform for use with a vehicle capture assembly of a capture vehicle, the movable platform including: a first floor configured to be coupled to a portion of the vehicle capture assembly near the capture vehicle; a second floor configured to be coupled to a probe assembly of the vehicle capture assembly; and at least one set of legs extending between the first floor and the second floor, the at least one set of legs rotatably coupled to at least one of the first floor or the second floor and configured to rotate relative to the at least one of the first floor or the second floor, wherein rotation of the at least one set of legs relative to at least one of the first floor or the second floor enables the movable platform to move from an initial position to a displaced position as the first floor translates laterally relative to the second floor in a direction transverse to a longitudinal axis of the movable platform.

[0007] In some aspects, the disclosure described herein relates to a movable platform for use with a vehicle capture assembly of a capture vehicle, the movable platform including: a first floor configured to be coupled near the capture vehicle; a second floor configured to be coupled to a probe assembly of the vehicle capture assembly; at least one set of legs extending between the first floor and the second floor, the at least one set of legs rotatably coupled to at least one of the first floor or the second floor and configured to rotate relative to the at least one of the first floor or the second floor, wherein rotation of the at least one set of legs relative to the at least one of the first floor or the second floor enables the movable platform to move from an initial position to a displaced position when the first floor moves laterally relative to the second floor; and a floating stop configured to rotate when the at least one set of legs rotates in one rotational direction relative to at least one of the first floor or the second floor.

[0008] In some aspects, the disclosure described herein relates to a vehicle capture system for use with a capture vehicle, the vehicle capture system including: a probe assembly including one or more retaining elements for engaging with and securing a target vehicle; and a movable platform coupled to at least a portion of the probe assembly, the movable platform including: a first side section coupled to a portion of the capture vehicle, a second side section coupled to the probe assembly, and legs extending between the first and second side sections, the legs being rotatably coupled to at least one of the first or second side sections and configured to rotate relative to at least one of the first or second side sections, wherein rotation of the legs relative to at least one of the first or second side sections enables the movable platform to move from an initial position to a displaced position when the second side section translates relative to the first side section.

[0009] In some aspects, the disclosure described herein relates to a method of capturing a spacecraft, the method including the steps of extending a probe of a vehicle capture assembly toward a target spacecraft on a boom, the vehicle capture assembly being coupled to the capture vehicle; enabling movement of the probe relative to the capture vehicle by a movable platform, a first side section of the movable platform being coupled to the probe and a second side section of the movable platform being coupled to the boom by rotatable legs extending between the first and second side sections, translating the first side section relative to the second side section by rotating the legs relative to the first and second side sections, and substantially maintaining the rotated position of the probe while translating the first side section relative to the second side section; and engaging the probe of the vehicle capture assembly with the target spacecraft.

[0010] In some aspects, the disclosure described herein relates to a method for moving a vehicle capture assembly of a capture vehicle by a moveable platform, the method including: minimizing a deadband in the moveable platform by fixing the moveable platform in an initial position with a biasing mechanism and allowing the moveable platform to move to a displaced position when a force threshold is exceeded; and translating a first side section of the moveable platform coupled to the vehicle capture assembly relative to a second side section of the moveable platform coupled to the capture vehicle by rotating rotatable legs of the moveable platform relative to the first and second side sections when the force threshold is exceeded, the rotatable legs extending between the first and second side sections.

[0011] The above summary is not intended to describe each illustrated example or every implementation of the present disclosure.

[0012] The drawings included in this application are incorporated into and form a part of this specification. The drawings illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure. The drawings are merely illustrative of particular embodiments and are not intended to limit the disclosure. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a side schematic view of a capture vehicle including a vehicle capture assembly and a target vehicle, according to one or more embodiments of the present disclosure. [Figure 2] FIG. 1 is an isometric view of a vehicle capture assembly in an initial position in accordance with one or more embodiments of the present disclosure. [Figure 3] FIG. 1 illustrates an isometric view of a movable platform (e.g., a probe moving feature) in an initial position, in accordance with one or more embodiments of the present disclosure. [Figure 4]FIG. 10 is a side view of a movable platform in a displaced position in accordance with one or more embodiments of the present disclosure. [Figure 5] FIG. 10 is a side view of a movable platform in a displaced position in accordance with one or more embodiments of the present disclosure. [Figure 6] 5 is an enlarged view of the movable platform of FIG. 4 in a displaced position. [Figure 7] FIG. 6 is an enlarged view of the movable platform in FIG. 5 in a displaced position. [Figure 8] FIG. 1 illustrates an isometric view of a movable platform in a displaced position in accordance with one or more embodiments of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0014] While the present disclosure is susceptible to various modifications and alternative forms, specific examples thereof have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit the disclosure to the particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the scope of the present disclosure.

[0015] As used herein, the terms "substantially," "about," and "approximately" mean and include the extent to which one of ordinary skill in the art would understand that a given parameter, characteristic, or condition is met with slight variations, such as within acceptable manufacturing tolerances, with respect to a given parameter. For example, a parameter that is substantially, about, or approximately met may be at least about 90% met, at least about 95% met, at least about 99% met, or even 100% met.

[0016] Embodiments of the present disclosure may include a mobile platform for use with capture and coupling assemblies and systems used for mechanical docking of two or more vehicles (e.g., orbital spacecraft with or without autonomous propulsion) using one or more vehicle capture devices or assemblies on the capture vehicle. Such vehicle capture assemblies are configured to engage with docking portions of a target vehicle to be captured (e.g., one or more docking cones coupled to the target vehicle). Some embodiments may enable autonomous capture and docking of spacecraft with relatively large mass and inertia, while causing minimal disturbance to either vehicle. Some embodiments provide benefits in the form of a relatively simple and compact docking architecture with mechanical compliance for improved reliability and safety, i.e., mechanical compliance to prevent damage to the spacecraft.

[0017] Some embodiments of the present disclosure may include a movable platform having a movable joint or union (e.g., a rotary joint) that allows the docking assembly to move relative to the capture vehicle to which it is attached. For example, the movable platform may include multiple sections (e.g., floors, side members, plates) that move relative to one another (e.g., lateral or radial movement transverse to the longitudinal axis of the assembly). Such a configuration may allow lateral movement of the floors through rotation of the legs while maintaining the floors substantially parallel to one another. In some embodiments, rotation of the legs between multiple floors may act as a parallelogram-type movement (e.g., double parallelogram-type movement), where each set of legs, together with the opposing floors on either side of the legs, define a substantial parallelogram shape. Stated another way, rotation of the legs between multiple floors may allow lateral movement between the floors while maintaining the floors in a substantially parallel orientation.

[0018] In some embodiments, leg movement can minimize (e.g., substantially prevent) rotation of the floors of the docking assembly relative to one another. For example, such a configuration can allow lateral movement of the floors through rotation of the legs and substantially prevent rotation of the floors relative to one another due to the legs or unions between the floors, while still maintaining the floors substantially parallel to one another.

[0019] Embodiments of the present disclosure allow for angular displacement of one or more sets of legs, which in turn allows for lateral displacement of the floors relative to one another. At least some of the floors may be attached to components of the vehicle capture system. For example, the floors may be attached to a docking assembly on one end of the mobile platform and to a spacecraft (e.g., a chaser vehicle or a capture vehicle) on another end of the mobile platform.

[0020] An embodiment of the movable platform may include a biasing mechanism (e.g., a spring, such as a torsion spring). For example, the biasing mechanism may resist deflection for loads below a threshold (e.g., approximately 1 N, 2 N, or more or less depending on the application), while allowing deflection when the threshold is exceeded. Once the threshold is exceeded, additional force may be required to keep the movable platform moving. For example, deflection may increase as the load (e.g., side load) increases. The restorative nature of the biasing mechanism may help minimize offset between the capture vehicle and the target vehicle during capture and docking operations, as the biasing mechanism tends to force the movable platform back to its initial position.

[0021] In some embodiments, the biasing mechanism can include a floating stop that acts to center the movable platform at the initial position and to force the movable platform back toward the initial position after displacement. Use of a biasing mechanism that includes a floating stop can minimize or even eliminate deadbands (e.g., play or slop) during movement of the movable platform between the initial and displaced positions. For example, a biasing force acting on the floor through the legs can act to secure the floor in the initial position until a threshold force is exceeded, allowing the floor to move while reducing or eliminating unwanted movement (e.g., play) between the floors.

[0022] An embodiment of the movable platform may include linkages or legs (e.g., a pair of linkages or legs extending between floors). The legs rotate relative to pin nodes on each floor, allowing the floors to move relative to one another. An embodiment of the movable platform may utilize redundant rotary joints as pin-linkage joints to reduce friction-induced disturbances compared to alternative compliance devices. For example, if one rotary joint fails (e.g., via sticking, galling, etc.), the other joint can continue to operate under substantially normal conditions. In some embodiments, further friction reduction may be possible through the use of rolling element bearings (e.g., ball bearings), if desired. A centering mechanism consisting of redundant torsion springs and one or more floating stops allows the mechanism to return to a nominally centered position after initial displacement of one or both of the movable platform floors. Preload on the torsion springs also allows the mechanism to withstand (e.g., substantially prevent) movement for loads below a certain threshold.

[0023] In space operations, the target vehicle and chaser vehicle generally may not be perfectly aligned through rendezvous and proximity operations prior to the docking operation. Compliance features in the docking mechanism may allow the docking operation to be completed and accommodate misalignments between the two vehicles. Mobile platform embodiments may provide lateral compliance between the target vehicle and chaser vehicle in a relatively simple and compact manner by allowing lateral displacement of the docking mechanism relative to the chaser vehicle while reducing disturbances to the vehicle. A centering biasing mechanism may help eliminate misalignments between the two vehicles during the docking operation. Mobile platform embodiments may be unique in that they utilize redundant rotary joints that provide higher fault tolerance (e.g., against friction-type failures) compared to many similar solutions that tend to bind during use. Additionally, the mobile platform may provide compliance features that can be packaged into a relatively short and more compact length along the boom compared to other solutions.

[0024] In some embodiments, the biasing mechanism of the movable platform can act as a damping element or feature to help inhibit movement of the docking assembly relative to the capture vehicle (e.g., including a target vehicle at least partially coupled to the docking assembly). Such a docking assembly can provide initial compliance for gentle capture and / or can at least partially damp relative movement between the vehicles (e.g., prior to retraction of the docking assembly to a final, rigidified connection).

[0025] FIG. 1 shows a schematic side view of a capture vehicle 10 (e.g., a work vessel, a chaser spacecraft, a transfer spacecraft, etc.) that can be operated to approach a target vehicle 11, capture the target vehicle 11, dock with the target vehicle 11, supply cargo or resources to the target vehicle 11, and / or repair the target vehicle 11, according to one or more embodiments of the present disclosure.

[0026] The capture vehicle 10 and the target vehicle 11 may each be a spacecraft or satellite located in orbit around a celestial body. The capture vehicle 10 may be a spacecraft designed to approach, capture, dock with, and undock from the target vehicle 11. Docking of the capture vehicle 10 to the target vehicle 11 may enable certain functions in a space mission. For example, connecting the vehicles 10, 11 may enable the transfer of resources (e.g., cargo, equipment, passengers, crew, etc.) from one vehicle to the other, may enable vehicle repair, and / or may enable certain mission functions (e.g., descent to or ascent from the celestial body or transportation to a selected location in space for the mission).

[0027] The capture vehicle 10 may be designed to dock with two or more target vehicles 11. For example, the capture vehicle 10 may include a docking mechanism (e.g., vehicle capture assembly 22) that allows the capture vehicle 10 to dock with and undock from multiple target vehicles 11. The capture vehicle 10 may be configured to dock with one or more of the target vehicles 11 with one or more docking elements 18 (e.g., docking cones, engines, etc.).

[0028] As discussed in more detail below, the vehicle capture assembly 22 may include a movable platform 24 that includes one or more damping elements or features to enable movement of the vehicle capture assembly 22 relative to the capture vehicle 10 while helping to inhibit such movement of the vehicle capture assembly 22 relative to the capture vehicle 10 (e.g., including the target vehicle 11 that is at least partially coupled to the vehicle capture assembly 22). The vehicle capture assembly 22 and movable platform 24 may provide initial compliance for gentle capture of the target vehicle 11 and / or at least partially damp relative movement between the vehicles 10, 11 (e.g., prior to retraction of the vehicle capture assembly 22 to a final, rigidified connection).

[0029] In some embodiments, movable platform 24 may be passive. For example, movable platform 24 may function in a manner that does not require the use of active components, such as motors, acting directly on movable platform 24 (e.g., does not require being actively driven). Mobile platform 24 may use passive means or mechanisms, such as mechanical forces (e.g., biasing members, restraining mechanisms, etc.), to enable movement of vehicle capture assembly 22. In further embodiments, movable platform 24 may include active (e.g., actively driven) components that enable and / or regulate movement in one or more degrees of freedom.

[0030] As shown, capture vehicle 10 may include spacecraft hull 12, docking platform 14, main thruster 17, gimbaled thruster 20, and vehicle capture assembly 22. As noted above, vehicle capture assembly 22 may include retention elements that directly contact and secure target vehicle 11 in a manner that does not require the use of active components, such as motors, that act directly on the retention elements. Rather, the retention elements may use passive means or mechanisms, such as mechanical forces (e.g., biasing forces), to engage target vehicle 11.

[0031] As discussed below, a motor (e.g., a single, isolated motor) may be used to actively move (e.g., translate) the vehicle capture assembly 22 toward and / or away from the target vehicle 11, but such a motor may only indirectly contribute to the engagement and / or disengagement of the retention elements. For example, a motor may position the retention elements at selected positions relative to the target vehicle, but a force applied to the vehicle capture assembly 22 may be utilized to engage and / or disengage the retention elements in a passive manner (e.g., a force exceeding one or more biasing elements of the vehicle capture assembly 22) without being actively driven by a motor or other electronic device.

[0032] The target vehicle 11 may be a spacecraft to be captured by the vehicle capture assembly 22 of the capture vehicle 10. The target vehicle 11 may be in low earth orbit, medium earth orbit, geosynchronous orbit, beyond geosynchronous orbit, or around a celestial body such as the Earth, the Moon, or another planetary body. The target vehicle 11 may include a docking element 18 and a separation ring 19.

[0033] The vehicle capture assembly 22 of the capture vehicle 10 may be configured to capture the target vehicle 11 at the docking element 18 and to pull the target vehicle 11 and capture vehicle 10 together for docking. Upon docking, one or more portions of the target vehicle 11 and / or the vehicle capture assembly 22 may abut to hold the vehicles 10, 11 together.

[0034] 2 shows an isometric view of vehicle capture assembly 100 in an initial position that may be used with a capture vehicle. In some embodiments, vehicle capture assembly 100 may be similar to and include similar components and features of vehicle capture assembly 22 of capture vehicle 10, shown generally in FIG. 1 and described above. In some embodiments, the vehicle capture assembly may be similar to that disclosed in U.S. Patent Application No. 17 / 207,646, filed March 20, 2021, published as U.S. Patent Application Publication No. 2021 / 0339893, and / or U.S. Patent Application No. 15 / 829,807, filed December 10, 2017, published as U.S. Patent No. 11,104,459, the disclosures of each of which are incorporated herein by reference in their entireties.

[0035] As shown in FIG. 2 , the vehicle capture assembly 100 includes a probe or probe assembly 102 coupled to a lance or lance assembly 104 (e.g., coupled via a movable platform 101 at a distal portion or end of the lance assembly 104). The probe assembly 102 includes one or more retention features (e.g., barbs 106) extending from the probe assembly 102 at a location proximate to a probe tip 108. The barbs 106 may extend in a direction transverse to the length or longitudinal axis of one or more portions of the vehicle capture assembly 100 (e.g., transverse to the length of the lance assembly 104). As shown, the rotatable barbs 106 extend laterally outward and proximally toward the lance assembly 104 to capture the target vehicle 11 ( FIG. 1 ).

[0036] In some embodiments, the barbs 106 may be biased (e.g., spring loaded) to a selected position. For example, the barbs 106 may be in the deployed position shown, in which the barbs 106 can couple with a portion of the target vehicle 11 (FIG. 1). In further embodiments, the barbs 106 may be biased to a retracted or stowed position.

[0037] 1 and 2 , the lance assembly 104 may include features that allow extension and / or retraction of a portion of the probe assembly 102 to facilitate docking between the capture vehicle 10 and the target vehicle 11. For example, when the capture vehicle 10 is positioned near the target vehicle 11, the probe assembly 102 may be extended by the lance assembly 104 to and inserted into a docking element 18 of the target vehicle 11. The lance assembly 104 may include a lance boom 110 that is driven by a motor 112 of the probe assembly 102. The motor 112 may be used to actively move (e.g., translate) the lance boom 110 toward and / or away from the target vehicle 11.

[0038] In some embodiments, the motor 112 may only indirectly contribute to the engagement and / or disengagement of the barbs 106. For example, the motor 112 may position the barbs 106 at a selected position relative to the target vehicle 11, but a force applied to the barbs 106 (e.g., to overcome a biasing force of the barbs 106 to the deployed position) may be applied as the barbs 106 are inserted into the docking element 18 to engage the barbs 106 in a passive manner without being actively driven by the motor 112. As discussed below, movement of the probe assembly 102 (e.g., by pushing the probe assembly 102 into the target vehicle 11) may be used to release the barbs 106 from the target vehicle 11 (e.g., by having the biasing force of the barbs 106 overcome in a different manner by internal components of the probe assembly 102).

[0039] The vehicle capture assembly 100 may include a backstop plate 118 for mating with a portion of the target vehicle 11 (eg, the docking element 18 at the capture position).

[0040] As shown, vehicle capture assembly 100 includes a probe movement feature, such as a movable platform 101. In some embodiments, movable platform 101 may be similar to movable platform 24 described above.

[0041] As shown, the movable platform 101 may include floors (e.g., first end floor 120 and second end floor 122) at opposite ends of the movable platform 101. For example, the first end floor 120 may be coupled (e.g., rigidly coupled in a substantially immovable manner) to the capture vehicle 10 (FIG. 1). The second end floor 122 may be coupled (e.g., rigidly coupled) to the vehicle capture assembly 100 (e.g., to the probe assembly 102).

[0042] The second end floor 122 may be movably coupled to the first end floor 120 via one or more movable unions or joints to allow the second end floor 122 to move relative to both the first end floor 120 and the capture vehicle 10. Each of the movable unions (e.g., linkages, legs 126, etc.) may provide at least one degree of freedom of movement between the second end floor 122 and the first end floor 120. As described above, the movable unions may limit movement between the second end floor 122 and the first end floor 120 to primarily translational movement (e.g., lateral, alternating left and right translation in a direction transverse to the direction of movement of the lance assembly 104) while maintaining the second end floor 122 and the first end floor 120 in a substantially parallel orientation to one another.

[0043] As shown, an intermediate floor 124 may be positioned between the first end floor 120 and the second end floor 122. A set of legs 126 may extend between each of the floors 120, 122, 124, and the legs 126 may rotate relative to the two of the respective floors 120, 122, 124 to which each leg 126 is connected (e.g., via a rotary joint such as a pin union). Rotation of the legs 126 may allow each of the floors 120, 122, 125 to move laterally relative to one another in a lateral or transverse axis and / or a radial or radial axis transverse to (e.g., substantially perpendicular to) the longitudinal axis of the lance assembly 104, respectively, and the lance boom 110 to move along the longitudinal axis of the lance assembly 104.

[0044] In some embodiments, the mobile platform 101 may include a central opening to accommodate a central lanyard 128 (e.g., housed within a flexible conduit 130) extending through the mobile platform 101. Both the central lanyard 128 and the associated flexible conduit 130 may be flexible to accommodate movement of the floors 120, 122, 124 of the mobile platform 101. The central lanyard 128 is coupled to the barbs 106 and may act to move the barbs 106. For example, the central lanyard 128 may pull on the barbs 106 to retract the barbs 106 and release the target vehicle 11.

[0045] 3 is an isometric view of mobile platform 200. In some embodiments, mobile platform 200 can be similar to mobile platforms 24, 122 described above.

[0046] As shown, the movable platform 200 may include end members, sections, or plates (e.g., a first floor 202 and a second floor 204), where one of the first floor 202 or the second floor 204 may be coupled (e.g., rigidly coupled) to the capture vehicle 10 (FIG. 1), and the other may be coupled to at least a portion of the vehicle capture assembly 100 (FIG. 2).

[0047] The second floor 204 may be movable (e.g., primarily translatable) relative to the first floor 202 via one or more movable unions or legs 208 to enable the second floor 204 to move relative to both the first floor 202 and the capture vehicle 10 in a direction transverse to the longitudinal axis 201 or centerline of the movable platform 200 (e.g., substantially perpendicular to the longitudinal axis 201 or centerline of the movable platform 200). The movable unions or legs 208 may provide at least one degree of freedom of movement (e.g., substantially lateral translational movement) between the second floor 204 and the first floor 202. For example, the mobile platform 200 may include a first floor 202 coupled to the second floor 204 via legs 208 to enable the vehicle capture assembly 100 to translate along a lateral axis of movement as the floors 202, 204 move laterally relative to one another.

[0048] As shown, an intermediate structure or central member (e.g., at least one intermediate floor 206) may be positioned between the first floor 202 and the second floor 204. Legs 208 may extend between each of the floors 202, 204, 206. For example, a first set of legs 208 (e.g., two diametrically opposed legs 208) may extend between the first floor 202 and the intermediate floor 206, and a second set of legs 208 may extend between the second floor 204 and the intermediate floor 206. The first set of legs 208 may be offset from the second set of legs 208 (e.g., offset approximately 180 degrees about the longitudinal axis 201). As discussed below, in some embodiments, the first and second sets of legs 208 can partially overlap along the longitudinal axis 201 such that the first and second sets of legs 208 are coupled to opposite ends of the intermediate floor 206 while coextensive along a portion of the longitudinal axis 201 to at least partially define a nested structure.

[0049] The legs 208 can rotate relative to two of the respective floors 202, 204, 206 to which each leg 208 is connected (e.g., via a rotary joint such as a pin union). Rotation of the legs 208 can allow each of the floors 202, 204, 206, respectively, to move laterally transverse to the longitudinal axis 201 (e.g., substantially perpendicular to the longitudinal axis 201). The floors 202, 204 can include brackets 210 extending from one side of the respective floors 202, 204. The intermediate floor 206 can include brackets 212 extending from both sides of a central structure 214 of the intermediate floor 206. The brackets 212 and legs 208 can be configured such that each leg 208 can be coupled to a bracket 212 positioned relatively far from the bracket 210 on the other floor 202, 204 to which the leg 208 is coupled. For example, the central portions of the legs 208 (e.g., central rib 242) may be rounded or curved to bypass the central structure 214 of the intermediate floor 206 for mating with the distal set of brackets 212. As noted above, such a configuration allows the legs 208 to overlap along the longitudinal axis 201 to define a nested structure (e.g., a relatively compact structure).

[0050] Moveable platform 200 may include one or more biasing mechanisms 218 to bias moveable platform 200 to an initial position (e.g., as shown in FIG. 3 ). As shown, biasing mechanism 218 may comprise torsion springs 220 positioned between one or more of legs 208 and each of floors 202, 204, 206. While biasing mechanism 218 is discussed herein primarily as torsion springs 220, in further examples, other biasing mechanisms (e.g., damping mechanisms, different spring configurations, etc.) may be implemented.

[0051] In some embodiments, the biasing mechanism 218 may include a set of torsion springs 220 positioned at the interface or union between the legs 208 and the respective brackets 210 of the floors 202, 204. As shown, only one leg 208 of each set may include a torsion spring 220 positioned at the outer end floor 202, 204. In further embodiments, the torsion spring 220 may be positioned on one or more of the legs 208 at their union with the intermediate floor 206 (e.g., as shown in FIG. 2).

[0052] As mentioned above, torsion spring 220 (e.g., in conjunction with floating stop 222, described in detail below) can bias movable platform 200 to an initial position, such as that shown in FIG. 3 . Torsion spring 220 can act to return movable platform 200 to a substantially initial position after a force applied to movable platform 200 causes legs 208 to rotate in order to displace one or more of floors 202, 204, 206. Also as mentioned above, torsion spring 220 can secure floors 202, 204, 206 until a threshold force (e.g., 1 N, 2 N, etc.) is applied to or between one or more of floors 202, 204, 206. Once the threshold force is exceeded, one or more sets of legs 208 can begin to rotate, allowing one or more of floors 202, 204, 206 to move relative to one another. In such an embodiment, the torsion spring 220 (e.g., in conjunction with the floating stop 222) can substantially prevent any movement (e.g., slop) in the floors 202, 204, 206 until a threshold force is applied. For example, the torsion spring 220 and / or the floating stop 222 can act to minimize or eliminate deadbands in the movement of the floors 202, 204, 206. Once the threshold force is applied, the legs 208 can allow translation of one or more of the floors 202, 204, 206 to occur.

[0053] In some embodiments, rotation of leg 208 may be limited by a hard stop provided by movable platform 200. For example, a portion of intermediate floor 206 (e.g., notched portion 240) may contact central rib 242 of leg 208 (e.g., between bracket portions 244 at either end of leg 208) to provide a hard stop to rotation of leg 208 and translation of one or more of floors 202, 204, 206.

[0054] As noted above, in some embodiments, the biasing mechanisms disclosed herein can act to dampen motion during the docking procedure. For example, the biasing features can dampen transitional forces between the vehicles 10, 11 (FIG. 1) when the docking assembly 100 is inserted into the docking cone of the target vehicle 11.

[0055] 4 and 5 are side views of a movable platform (e.g., movable platform 200) being displaced. For example, FIG. 4 shows a set of legs 208 (e.g., legs 208 extending between first floor 202 and intermediate floor 206) rotated clockwise (e.g., approximately 30 degrees clockwise as shown in FIG. 4). For clarity, only one set of legs 208 is shown as rotating, but the other set can similarly rotate in either direction (e.g., as shown in FIG. 8). FIG. 5 shows a set of legs 208 rotated counterclockwise (e.g., approximately 30 degrees counterclockwise as shown in FIG. 5). In further embodiments, legs 208 can rotate more or less than 30 degrees in either direction (e.g., ±15 degrees, 45 degrees, 60 degrees, 75 degrees, 90 degrees, or various degrees therebetween).

[0056] Figures 6 and 7 are enlarged views of moveable platform 200 in the positions shown in Figures 4 and 5, respectively. Figures 6 and 7 are enlarged to clearly illustrate the function of floating stop 222, which may be utilized in concert with (e.g., may be part of) biasing mechanism 218 to minimize deadband in the motion of moveable platform 200, as described above. Similar to legs 208, floating stop 222 may be rotatably coupled to a respective bracket (e.g., bracket 210 via pin connection 216).

[0057] 4 and 6, as shown, rotation of the lower set of legs 208 causes both the second floor 204 and the intermediate floor 206 to translate laterally across (e.g., set to intersect) the longitudinal axis 201 relative to the first floor 202. Rotation of the legs 208 also causes the second floor 204 and the intermediate floor 206 to move along (e.g., closer to or further apart relative to) the longitudinal axis 201. However, as discussed herein, lateral movement between the floors 202, 204, 206 may be the predominant type and / or direction of movement for the mobile platform 200 (e.g., may constitute the majority of the displacement). In use, the second floor 204 and the intermediate floor 206 translate relative to the first floor 202, which may be coupled to the capture vehicle 10 (FIG. 2), to move the second floor 204, which is coupled to the probe assembly 102 (FIG. 2), laterally and / or sideways relative to the target spacecraft 11 (FIG. 2) during a docking procedure. Rotation of the upper set of legs 208 (e.g., into or out of the plane of the paper as shown in FIG. 4) may further translate the second floor 204 relative to the first floor 202 and the intermediate floor 206 (e.g., as shown in FIG. 8). After displacement, the biasing mechanism 218 may act to force the second floor 204 and the intermediate floor 206 back into substantial alignment with the longitudinal axis 201 in the initial position. Such alignment may act to align the mobile platform 200 with a portion of the target vehicle 11 (e.g., with the centerline of the docking element 18 of the target vehicle 11).

[0058] During rotation of legs 208, floating stops 222 can remain (e.g., stationary) in an initial position where stop portion 224 of floating stopper 222 is engaged with a fixed surface of movable platform 200 (e.g., fixed portion 226 of one of brackets 210, creating a hard stop for floating stopper 222 in one direction). Stated differently, in the motion illustrated in FIGS. 4 and 6 , floating stopper 222 is substantially fixed (e.g., floating stopper 222 cannot substantially rotate because it is fixed by the interaction between stop portion 224 and fixed portion 226 of bracket 210). Legs 208 can apply a force against one or more of torsion springs 220 (e.g., by twisting torsion spring 228) to overcome the biasing force of torsion spring 228. As shown, a first set of ends of the torsion springs 228 may be secured by a first movable bracket portion 230 of the floating stopper 222. A second set of ends of the torsion springs 228 may be secured to the legs 208 (e.g., at leg brackets 234).

[0059] As shown, a portion of the floating stop 222 (eg, the second movable bracket portion 246 ) can act as a hard stop for the leg 208 .

[0060] When the force is removed, the torsion spring 228 can return the leg 208 to its initial position.

[0061] Referring to Figures 5 and 7, as shown, rotation of the lower set of legs 208 translates both the second floor 204 and the middle floor 206 counterclockwise relative to the first floor 202, similar to the reverse motion in Figures 4 and 6 described above.

[0062] 5 and 7, the floating stopper 222 may also rotate counterclockwise, moving the stopper portion 224 away from the fixed portion 226 of one of the brackets 210. In some embodiments, a hard stopper 236 on the leg 208 may contact the stopper portion 224 of the floating stopper 222 to rotate the floating stopper 222.

[0063] The legs 208 can apply a force that counteracts one or more of the torsion springs 220. For example, the force applied to the legs 208 can overcome the biasing force of the torsion springs 232, causing the floating stop 222 to rotate and further twist the torsion springs 232. As shown, the ends of the torsion springs 232 can be secured by a second movable bracket portion 246 of the floating stop 222 (also shown in FIGS. 5 and 6). A second set of ends of the torsion springs 232 can be secured to the floor 202 (e.g., at floor brackets 238).

[0064] When the floating stopper 222 rotates a selected amount (e.g., when a portion of the first movable bracket portion 230 contacts the first floor 202), the floating stopper 222 acts as a hard stop against the leg 208.

[0065] 4, in some embodiments, similar to above, rotation of leg 208 may be limited by one or more of floating stops 222 or a hard stop provided by movable platform 200. For example, cutout portion 240 of intermediate floor 206 may contact central rib 242 of leg 208 to provide a hard stop for rotation of leg 208 and translation of one or more of floors 202, 204, 206.

[0066] As described above, when the force is removed, the torsion spring 232 can return the leg 208 to its initial position.

[0067] As also mentioned above, the floating stop 222 can allow for a configuration with substantially little recoil when moving between the initial position and the displaced position.

[0068] 8 is an isometric view of mobile platform 300 shown with multiple sets of legs 302 rotating mobile platform 300 into a displaced position. In some embodiments, mobile platform 300 can be similar to mobile platforms 24, 122, 200 described above.

[0069] As shown, each of the floors 304 can move relative to one another along one or more translational degrees of freedom (e.g., along the x-axis, y-axis, and / or z-axis) to allow the opposing end floors to move laterally relative to one another and then be biased back to their initial positions where the floors 304 are substantially laterally aligned with one another. Rotation of the legs 302 between each of the floors 304 can act as a double parallelogram-type movement, where each set of legs 302, together with the opposing floors 304 on either side of the legs 302, define a substantial parallelogram shape. For example, rotation of the legs 302 between the floors 304 can move the floors 304 relative to one another while maintaining the floors 304 in a substantially parallel orientation without substantially rotating the floors 304 (e.g., changing the rotational position and / or orientation of the floors 304).

[0070] In some embodiments, the movable platform 300 may include one or more electrostatic discharge (ESD) features, such as a ground wire 306, or a braid extending between the legs 302 and the floor 304.

[0071] While the particular embodiments discussed herein are directed to movable platforms having one or more translational degrees of freedom (e.g., three degrees of freedom), other embodiments may include variations of other degrees of freedom (e.g., along with some additional rotational freedom if desired in select applications).

[0072] The embodiments of the present disclosure described above and illustrated in the accompanying drawings are merely examples of embodiments of the present disclosure and do not limit the scope of the present disclosure. The present disclosure is defined by the appended claims and their legal equivalents. Any equivalent embodiments are within the scope of the present disclosure. Indeed, various modifications of the present disclosure, in addition to those shown and described herein, will become apparent to those skilled in the art from the description, such as alternative useful combinations of the described elements. Such modifications and embodiments also fall within the scope of the appended claims and their legal equivalents. The terminology used herein has been selected to explain the principles, practical applications, or technical improvements of the embodiments over those found in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. 1. A movable platform for use with a vehicle capture assembly of a capture vehicle, comprising: a first floor configured to be coupled to a portion of the vehicle capture assembly adjacent the capture vehicle; a second floor configured to be coupled with a probe assembly of the vehicle capture assembly; at least one set of legs extending between the first floor and the second floor, the at least one set of legs rotatably coupled to at least one of the first floor or the second floor and configured to rotate relative to the at least one of the first floor or the second floor; Equipped with A movable platform, wherein rotation of the at least one set of legs relative to the at least one of the first floor or the second floor allows the movable platform to move from an initial position to a displaced position as the first floor translates laterally relative to the second floor in a direction transverse to a longitudinal axis of the movable platform.

2. 2. The mobile platform of claim 1, further comprising at least one intermediate floor between the first floor and the second floor, the first floor being coupled to the at least one intermediate floor on a first side of the at least one intermediate floor by a first set of the at least one set of legs, and the second floor being coupled to the at least one intermediate floor on a second side of the at least one intermediate floor by a second set of the at least one set of legs.

3. The mobile platform of claim 2 , wherein the first set of the at least one set of legs is offset from the second set of the at least one set of legs about the longitudinal axis of the mobile platform.

4. The mobile platform of claim 2 , wherein the first set of the at least one set of legs and the second set of the at least one set of legs partially overlap along the longitudinal axis of the mobile platform.

5. 3. The mobile platform of claim 2, wherein the first set of legs and the second set of legs exhibit a nested configuration in which a portion of the first set of legs extends along the longitudinal axis of the mobile platform beyond a portion of the second set of legs.

6. The moveable platform of claim 1 , further comprising a biasing mechanism configured to bias the moveable platform to the initial position.

7. The mobile platform of claim 6 , wherein the biasing mechanism comprises a torsion spring positioned at at least one union between the at least one set of legs and the at least one of the first floor or the second floor.

8. 7. The mobile platform of claim 6, wherein the biasing mechanism includes a floating stopper configured to rotate against the biasing force of the biasing mechanism when the at least one set of legs rotates in one rotational direction relative to the at least one of the first floor or the second floor.

9. 9. The mobile platform of claim 8, wherein the floating stopper is configured to be stationary when the at least one set of legs rotates against the biasing force of the biasing mechanism in another rotational direction relative to the at least one of the first floor or the second floor, the other rotational direction being opposite to the one rotational direction.

10. 6. The movable platform of claim 1, wherein one or more portions of the movable platform define at least one hard stop configured to stop rotation of the at least one set of legs relative to the at least one of the first floor or the second floor.

11. 6. The mobile platform of claim 1, configured to maintain a rotational orientation of the first floor relative to the second floor as the second floor translates relative to the first floor.

12. 1. A movable platform for use with a vehicle capture assembly of a capture vehicle, comprising: a first floor configured to be coupled adjacent to the capture vehicle; a second floor configured to be coupled with a probe assembly of the vehicle capture assembly; at least one set of legs extending between the first floor and the second floor, the at least one set of legs rotatably coupled to at least one of the first floor or the second floor and configured to rotate relative to the at least one of the first floor or the second floor, wherein rotation of the at least one set of legs relative to the one of the first floor or the second floor allows the movable platform to move from an initial position to a displaced position when the first floor moves laterally relative to the second floor; a floating stopper configured to rotate when the at least one set of legs rotates in one rotational direction relative to the at least one of the first floor or the second floor; A movable platform comprising:

13. 13. The mobile platform of claim 12, wherein a portion of the at least one set of legs is configured to rotate the floating stopper by overcoming a biasing force of a biasing mechanism that biases the floating stopper to an initial position.

14. 14. The mobile platform of claim 13, wherein the floating stop is configured to be stationary when the at least one set of legs rotates in another rotational direction relative to the at least one of the first floor or the second floor, the other rotational direction being opposite to the one rotational direction.

15. 15. The movable platform of claim 14, wherein the biasing mechanism is configured to fix the floating stopper in an initial position when the at least one set of legs rotates in another rotational direction relative to the at least one of the first floor or the second floor.

16. 16. The mobile platform of claim 12, further comprising a biasing mechanism coupled between a portion of the at least one set of legs and the floating stop, the biasing mechanism and the floating stop configured to secure the mobile platform in the initial position, thereby minimizing a dead band in the mobile platform, and to allow the mobile platform to move to the displaced position when a threshold force is exceeded.

17. 1. A vehicle capture system for use with a capture vehicle, comprising: a probe assembly including one or more retention elements for engaging and securing a target vehicle; a movable platform coupled to at least a portion of the probe assembly; wherein the movable platform comprises: a first side section coupled to a portion of the capture vehicle; a second lateral section coupled to the probe assembly; a leg extending between the first side section and the second side section, the leg rotatably coupled to at least one of the first side section or the second side section and configured to rotate relative to the at least one of the first side section or the second side section, wherein rotation of the leg relative to the at least one of the first side section or the second side section enables the movable platform to move from an initial position to a displaced position when the second side section translates relative to the first side section; A vehicle capture system comprising:

18. 18. The vehicle capture system of claim 17, further comprising a floating stopper configured to rotate when the leg rotates in one rotational direction relative to the at least one of the first side section or the second side section.

19. 20. The vehicle capture system of claim 18, wherein the floating stopper is configured to be stationary when the leg rotates in another rotational direction relative to the at least one of the first side section or the second side section, the other rotational direction being opposite to the one rotational direction.

20. 20. A vehicle capture system according to any one of claims 17 to 19, further comprising a biasing mechanism configured to bias the moveable platform to the initial position.

21. 1. A method of capturing a spacecraft, comprising: extending a probe of a vehicle capture assembly toward a target spacecraft on a boom, said vehicle capture assembly being coupled to a capture vehicle; enabling movement of the probe relative to the capture vehicle by a movable platform, a first side section of the movable platform coupled to the probe and a second side section of the movable platform coupled to the boom by rotatable legs extending between the first and second side sections; translating the first side section relative to the second side section by rotating the leg relative to the first side section and the second side section; and Substantially maintaining the rotational position of the probe while translating the first lateral section relative to the second lateral section. and engaging the probe of the vehicle capture assembly with the target spacecraft; A method comprising:

22. 22. The method of claim 21, further comprising returning the movable platform to an initial position with a biasing mechanism after translating the first side section relative to the second side section.

23. 23. The method of claim 22, further comprising minimizing a dead band in the movable platform by fixing the movable platform in the initial position with the biasing mechanism, and allowing the movable platform to move to a displaced position when a threshold force is exceeded.

24. 24. The method of any one of claims 21 to 23, further comprising translating the first side section relative to the second side section while translating the first and second side sections relative to a third intermediate side section positioned between the first and second side sections.

25. 1. A method for moving a vehicle capture assembly of a capture vehicle by a movable platform, comprising: minimizing a deadband in the movable platform by fixing the movable platform in an initial position with a biasing mechanism and allowing the movable platform to move to a displaced position when a force threshold is exceeded; when the force threshold is exceeded, rotating rotatable legs of the mobile platform relative to a first side section of the mobile platform coupled to the vehicle capture assembly and a second side section of the mobile platform coupled to the capture vehicle, thereby translating the first side section relative to the second side section, the rotatable legs extending between the first and second side sections; A method comprising:

26. 26. The method of claim 25, further comprising rotating a floating stop positioned at a union between the rotatable leg and at least one of the first side section or the second side section in a first rotational direction against one or more biasing elements.

27. 27. The method of claim 26, further comprising the step of substantially maintaining the floating stopper in a stationary position when the rotatable leg rotates against the one or more biasing elements in a second rotational direction, the second rotational direction being opposite to the first rotational direction.

28. 28. The method of claim 26 or 27, further comprising substantially maintaining a rotational position of the first side section relative to the second side section while translating the first side section relative to the second side section.

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