Radial Latch Interface System

Abstract

The present disclosure relates to a low mass system for removably securing a robotic arm to a spacecraft and for securing various payloads to the robotic arm and to each other, allowing the robotic arm to move from one installation location to another suitably equipped installation location on the spacecraft, and for the free end of the robotic arm to be secured to any payload similarly equipped to be manipulated by the robotic arm.

Description

[Technical field]

[0001] The present disclosure relates to a low mass system for releasably fastening one end of a robotic arm (or any other selected object) to a dedicated attachment point on a spacecraft, allowing the robotic arm (or selected object) to be moved from one dedicated attachment point location on the spacecraft to another, and fastening the free end of the robotic arm (selected object) to any payload similarly equipped to be manipulated by the robotic arm or connected to the selected object. [Background technology]

[0002] The use of robotics is well known in the context of space operations. It is also well known that one of the critical constraints of space operations is low mass to reduce the cost of launching objects into space. Attempts to introduce commonality into space system interfaces will increase interoperability and also reduce the overall mass and complexity of the spacecraft, thus reducing the cost of developing and operating these space systems in both the near and long term.

[0003] The benefit of any robotic system is greatly enhanced if its attachment point or base can be moved from location to location so that it can operate wherever necessary with as few restrictions as possible. A robotic system or arm that can move itself within its environment from installation location to installation location creates an additional benefit. This benefit has been realized previously in systems such as the Space Station Remote Manipulator System (SSRMS) currently operating on the International Space Station (ISS). The dedicated attachment point for the SSRMS is the Power Data Grapple Fixture (PDGF) installed at various installation locations around the ISS, providing mechanical attachment points and power, data and video connections to the manipulator via Latching End Effectors (LEEs) installed on either end of the seven connected SSRMS.

[0004] One of the special conditions of space activity is the microgravity environment. What is particularly interesting about robotic arms is that in a microgravity environment, they no longer have to consider the effects of Earth's gravity, and as a result, the two ends of the robotic arm can be designed with identical structural performance without undue mass penalties. This is not the case in Earth's gravity, where the base of the arm, similar to the human shoulder, must be significantly stronger and therefore heavier than the wrist or hand of the arm. The ability to make the two ends of the arm similar in terms of structural performance allows the concept of an arm that can self-move, or "walk", in both directions, from one prepared installation position on the spacecraft to another. In such a case, due to the number of these prepared installation positions, the reduction in their mass and complexity brings considerable benefits to the entire spacecraft system.

[0005] Additionally, the benefit of any robotic system can be increased by increasing the number of objects that the robotic system can interface with or grasp and subsequently manipulate. This can be accomplished in part by creating an interface system in which the portions of the interface that will be most frequently replicated are both the lowest possible mass and the smallest possible size and complexity, thereby reducing the overall mass and cost burden on the inventory of objects that are handled by the robotic system and facilitating a greater number of objects to be compatible with the robotic system.

[0006] The advantage is further multiplied if the interface at the base of the robot arm can be the same as the interface between the robot arm and any object that is handled or acquired and then manipulated. Summary of the Invention [Problem to be solved by the invention]

[0007] Disclosed herein is a low mass system for releasably securing one end of a robotic arm (or any other selected object) to a dedicated attachment point on a spacecraft, allowing the robotic arm (or any other selected object) to be moved from one dedicated attachment point location on the spacecraft to another, and for securing the free end of the robotic arm (or any other selected object) to any payload similarly equipped to be manipulated by the robotic arm.

[0008] The present system and mechanism for removably and structurally enabling a robotic arm to be attached to a spacecraft and to attach a payload to the free end of a manipulator increases the ease of movement of the robotic arm from one location to another through a network of passive interface locations on the spacecraft, and also provides low-cost and low-mass removably attachment of various payloads to the robotic arm. Furthermore, the present system and mechanism is to achieve interface capture, alignment, seating, electrical connection and latching with three or more latches located on the radial surface that interact with the rims of the passive interfaces with a single actuator and one continuous motion. The embodiments disclosed herein provide a mechanism for removably attaching a robotic arm to a spacecraft and to a payload that the arm may retrieve, manipulate and insert, or remove from an attached location on the spacecraft. The method of attaching the arm to the spacecraft is specifically designed to allow the arm to move unaided from attachment point to attachment point around the spacecraft to provide robotic services at various installation locations around the spacecraft. To that end, all active and driven components of the system are contained in the portion of the system permanently mounted to the robotic arm, called the "active interface assembly." The portion of the system mounted to the host spacecraft or any payload does not contain any independently driven mechanisms, and is called the "passive interface assembly," and does not need to contain any electrical connections unless it is used as a mounting base for the arm, or unless the payload itself requires power and / or data connections to keep itself heated or to provide data via the arm to other computer systems on the spacecraft.

[0009] The active portion of the interface includes a latching mechanism that holds the active and passive portions of the interface together, thus providing the structural load-bearing capabilities necessary for the robotic arm to perform useful tasks. [Means for solving the problem]

[0010] Thus, an interface coupling system is provided for releasably fastening one end of a robotic arm (or any other selected object) to a dedicated attachment point on a spacecraft, allowing the robotic arm (or any other selected object) to be moved from one dedicated attachment point on the spacecraft to another, and for fastening the free end of the robotic arm (or any other selected object) to any payload similarly equipped to be manipulated by the robotic arm. The interface coupling system comprises: a) an active interface assembly, an outer housing including a planar interface coupling located at a proximal end thereof for structurally mounting the outer housing to a robotic arm or selected object, a conduit for receiving an electrical cable from the robotic arm or selected object, a rotary actuator coupled to the outer housing and connectable to the robotic arm or selected object, and a stepped interface coupling at a distal end thereof having alternating ridges and valleys radially disposed on a coupling face at equal intervals; an inner housing having a proximal end coupled to the rotary actuator and a distal end with pivotal attachments to three or more radial latches disposed in a single plane, equally spaced and oriented tangentially to an outer diameter of the inner housing, each radial latch including a compressible strut sized to create a tailored interface preload, each latch including a coupling to the inner housing and an active side electrical connector deformably mounted within the inner housing and connected to an electrical system on the robot arm or selected object; an active interface assembly including: b) a passive interface assembly having a proximal end and a distal end, a stepped interface coupling located at a distal end thereof that complements the stepped interface of the active interface assembly for structurally mounting the passive interface assembly to the active interface assembly, the stepped interface coupling having an alignment guide that complements the radial latch, the stepped interface coupling being a clamping rim configured to be engaged and clamped by the radial latch; a flat interface coupling disposed at a distal end thereof for attaching the passive interface assembly to a desired object; a passive interface assembly including a passive side electrical connection configured to mate with the active interface assembly electrical connection and configured to support a preselected operational requirement of the passive interface; Equipped with When the active interface assembly is roughly aligned within the capture envelope of the passive interface assembly by a robotic arm and the rotary actuator is actuated, the inner housing is driven in a single continuous motion towards the passive interface assembly such that the radial latches grip the rim to achieve capture, alignment, seating, electrical connection of the first and second electrical connections, and latching of the active and passive interface assemblies.

[0011] A further understanding of the functional and advantageous aspects of the present disclosure will be realized by reference to the following detailed description and drawings. [Brief description of the drawings]

[0012] Embodiments of mechanisms for releasably securing a robotic system or arm to a spacecraft or payload are described, by way of example only, and with reference to the following drawings: [Figure 1A] FIG. 1 is a perspective view of a mechanism 10 for releasably securing a robotic system or arm to a spacecraft or payload, comprising an active interface assembly 12 and a passive interface assembly 14, constructed in accordance with the present disclosure. [Figure 1B] The passive side connector alignment guide 260 is shown. [Figure 2A] FIG. 2 is a perspective view of mechanism 10 of FIG. 1 , but taken from a different perspective than that shown in FIG. 1 , illustrating a coupling mechanism installed on the active interface assembly that, in use, is used to firmly couple active interface assembly 12 to passive interface assembly 14. [Figure 2B] The active side connector alignment guide 250 is shown. [Diagram 3] FIG. 1 is a perspective view of an inner housing portion 100 of the active interface assembly 12 and a drive system used to mate the active interface assembly 12 with the passive interface assembly 14, in use. [Figure 4A] 1 is an orthogonal view of a compressible strut 82 that forms a connection between the inner housing 100 and each rocker arm 80. FIG. [Figure 4B] 1 is a cross-sectional view of a compressible strut 82. FIG. [Diagram 5] FIG. 1 is an orthogonal view of the active interface assembly 12 showing an example of the radial arrangement of evenly spaced latches, ball screw spacing, and active side electrical connector 118. [Figure 6A] 1 illustrates selected operational stages involved in mating the active interface assembly 12 with the passive interface assembly 14 during use, and shows the ready-to-latch stage when the active interface assembly 12 is guided into position by the robotic arm and fully aligned with the passive interface assembly 14 to initiate movement of the active interface assembly. [Figure 6B]1 illustrates selected operational stages involved in mating of active interface assembly 12 with passive interface assembly 14 during use, showing the contact stage (also called the capture stage) of active interface assembly 12 in contact with passive interface assembly 14. [Figure 6C] 1 illustrates selected operational stages involved in mating an active interface assembly 12 with a passive interface assembly 14 during use, with the active interface assembly 12 shown in a seating stage seated in the passive interface assembly 14. [Figure 6D] 1 illustrates selected stages involved in mating an active interface assembly 12 with a passive interface assembly 14 in use, showing the maximum load position of the active interface assembly 12 relative to the passive interface assembly 14 during mating. [Figure 6E] 1 illustrates selected steps involved in mating the active interface assembly 12 with the passive interface assembly 14 during use, showing the relative position of the active interface assembly 12 with respect to the passive interface assembly 14 when the active and passive side connectors 118 and 72 are fully mated in their self-locking configuration. [Figure 6F] 1 illustrates selected stages involved in mating an active interface assembly 12 with a passive interface assembly 14 during use, showing the active interface assembly 12 fully mated with the passive interface assembly 14. [Figure 7] 13 shows an arrangement for deformable mounting of the active side connector 118. [Figure 8] Describe a work scenario for reinstalling a robot arm. [Figure 9] Depict a work scenario for the manipulation of a payload or other object. [Figure 10] FIG. 13 is a perspective view depicting a second external radial latch interface system embodiment. [Figure 11] FIG. 13 is a perspective view depicting a second external radial latch interface system embodiment. [Figure 12] FIG. 13 is a perspective view depicting a second external radial latch interface system embodiment. [Figure 13A] 1 shows an embodiment of the exterior in the state of the main mechanisms. [Figure 13B] 1 shows an embodiment of the exterior in the state of the main mechanisms. [Figure 13C] 1 shows an embodiment of the exterior in the state of the main mechanisms. [Figure 13D] 1 shows an embodiment of the exterior in the state of the main mechanisms. [Figure 13E] 1 shows an embodiment of the exterior in the state of the main mechanisms. [Figure 13F] 1 shows an embodiment of the exterior in the state of the main mechanisms. [Figure 14] 13 depicts a third externally actuated radial latch interface system embodiment. [Figure 15] 13 depicts a third externally actuated radial latch interface system embodiment. [Figure 16A] 1 shows the externally driven embodiment in a ready to latch state. [Figure 16B] 1 shows the external drive embodiment in a fully engaged state. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Various embodiments and aspects of the present disclosure will be described with reference to the details discussed below. The following description and drawings are illustrative of the present disclosure and should not be construed as limiting the present disclosure. The drawings are not necessarily drawn to scale. Numerous specific details are described in order to provide a thorough understanding of the various embodiments of the present disclosure. However, in some cases, well-known or conventional details are not described in order to provide a concise discussion of the embodiments of the present disclosure.

[0014] As used herein, the terms "comprises" and "comprising" are to be interpreted as inclusive and open-ended, and not exclusive. Specifically, when used in this specification, including the claims, the terms "comprises" and "comprising" and variations thereof mean that the specified features, steps, or components are included. These terms should not be interpreted to exclude the presence of other features, steps, or components.

[0015] As used in this specification, the term "exemplary" means "serving as an example, instance, or illustration" and should not be construed as preferred or advantageous over other configurations disclosed herein.

[0016] As used herein, the terms "about" and "approximately," when used in conjunction with ranges of particle dimensions, mixture compositions, or other physical properties or characteristics, are meant to cover the small variations that may exist within the upper and lower limits of the dimensional ranges, and are not intended to exclude embodiments in which, on average, most of the dimensions are met, but in which statistically the dimensions may fall outside of this range. It is not intended to exclude such embodiments from the present disclosure.

[0017] (structure) (Passive Interface Assembly 14) 1A and 2A, the passive interface assembly 14 comprises a passive interface housing 16 with a number of alignment guides 74, a number of passive interface mounting bolts, washers and thermal bushings 60, a passive interface connector housing 70 and a number of passive side electrical connectors 72. The passive interface housing 16 includes a passive surface coupling interface flange 50 having alternating ridges 52 and valleys radially arranged on the coupling surface at equal intervals. The sloping surface between the ridges 52 and valleys is the contacting surface of the passive surface coupling interface flange 50. The passive interface mounting bolts, washers and thermal bushings 60 are attached to four housing sections 58 that form part of the passive interface housing 16. The passive interface mounting bolts, washers and thermal bushings 60 are used to bolt the passive interface assembly 14 to either a payload to be handled by the robotic arm or a surface intended to support the robotic arm as a base for operation, such as the deck of a spacecraft. A passive interface connector housing 70 is concentrically mounted within the passive interface housing 16. A passive electrical connector 72 is mounted within the passive interface connector housing. The passive electrical connector 72 may include power, data and / or video connectors depending on the end use of the interface assembly.

[0018] Alternatively, a custom arrangement of electrical contacts may be used to optimize use of the central volume and / or accommodate other devices such as cameras, lighting or other sensors. For passive interfaces used as a base for the robot arm's work, the electrical contact arrangement is simply suited to the needs of the robot arm. For passive interfaces on the payload, the electrical contact arrangement may be suited to the needs of the payload, e.g., to receive power and / or exchange data, although the active side electrical connector must be a common standardized arrangement suited to the needs of the robot arm and all payloads handled.

[0019] 2A , alignment guides 74 are visible spaced around the outer periphery of passive interface housing 16. Alignment guides 74 are required in each space between radial latches 81 (described later herein) so that, upon mating, latch rollers 84 and rocker arms 80 can interact with molded guiding surfaces to continuously reduce the lateral and roll (angular) offsets of active and passive interface assemblies 12 and 14, respectively, as the radial latches 81 move through their full closed stroke.

[0020] (Active Interface Assembly 12) 1A and 2A, the active interface assembly 12 comprises a fixed outer active interface housing 18, a translating movable inner housing 100, three or more radial latches 81 consisting of a radially arranged rocker arm 80, a compressible link 82, a latch roller 84, a bushing 86 and a latch roller pin 88 with pivotal connections to both the fixed outer active interface housing 18 and the translating movable inner housing 100, a rotary actuator 20 and mechanism for driving the translational motion, and multiple active side electrical connectors 118 attached to a connector plate 190 on a deformable spring mount.

[0021] At the distal end of the fixed outer active interface housing 18 is mounted an active surface coupling interface flange 40 having a series of alternating ridges and valleys equally spaced radially on the coupling surface. The sloping surface between the ridges and valleys 42 is the contacting surface of the active surface coupling flange 40. At the proximal end of the active interface assembly 12, a drive plate 162 is embedded within the fixed outer active interface housing 18, mounted perpendicular to said longitudinal axis and supported by a drive housing 160. As such, the drive plate 162 and the drive components supported thereon are out of the load path of the primary structure of the robot arm and therefore are not susceptible to any influences on the robot arm that may result from external loads.

[0022] Drive plate 162 defines the axis of drive gear 102 to which actuator 20, idler gear 104, and ball screw 90 are mounted. Although actuator 20 is depicted coaxially with drive plate 162, alternative gear arrangements enhance the ease of off-center installation and leave central space in drive plate 162 available for cable passage or a larger hole suitable for other purposes such as a limit switch or other sensor.

[0023] Three additional openings in the drive plate 162 accommodate the outer cable guide 110 with flared openings 114. The inner cable guide 24 protrudes through the proximal end of the outer cable guide 110 when the movable inner housing 100 is fully retracted. The flared openings 114 of the outer cable guide 110 have a sufficiently curved surface to ensure that the cables are pulled into the outer cable guide and guide them as the inner housing 100 translates forward. The inner cable guide 24 fits telescopically within the outer cable guide 110 and provides a telescopic port for the passage of the cables. The movement of the cables resulting from the translational movement of the movable inner housing 100 is accommodated in an annulus between the actuator 20 and the fixed outer active interface housing 18 after passing through the inner and outer cable guides. The rotary actuator 20 includes a motor that provides continuous torque at high rotational speeds coupled to a gearhead (for reducing speed and increasing torque) and a sensor that controls the motor communication and reports the rotation of the drive shaft.

[0024] FIG. 3 shows the components involved in linear actuation. The assembly of moveable inner housing 100, cable housing 120, cable cover 122, ball nut 92 and inner cable guide 24 is translated along the moveable inner housing axis 230 when torque is transmitted to the ball screw 90 via the actuator 20, actuator pinion 168 (see FIG. 6A), idler gear 104 and drive gear 102. The inner housing 100 is mounted with link pivot pins 130 at its distal end. Each link pivot pin 130 provides a mounting point for one end of a compressible strut 82 of the radial latch. Three pads 124 on the inner housing 100 contact the mounting surface of the passive interface assembly 14 at the end of the movement.

[0025] Further details of the actuator 20 mounting to the drive plate 162 via the actuator adapter 164 can be seen in Figure 6A. When the idler housing 126 is mounted to the drive plate 162, it constrains the axial movement of the actuator pinion 166 and idler gears 104 via pinion spacers 168 and thrust washers 172, one on each side of each idler gear. The thrust washers 172 and pinion spacers 168 may be adjusted in assembly to achieve a clearance fit. Each idler gear 104 rides on a needle bearing 170 that allows it to rotate freely on the idler shaft 128.

[0026] Each ball screw 90 carries a drive gear 102 and is attached to a drive bracket 162 via a bearing 96. A bearing spacer 176, which may be adjusted in assembly, is placed on each side of the bearing set. A lock nut 94 clamps the drive gear 102, bearing spacers 176 and the inner race of the bearing 96 to the ball screw 90, while a bearing retainer 174 clamps the outer race of the bearing 96 to the drive plate 162.

[0027] Figure 4A shows the compressible strut 82 in its extended state. Figure 4B is a cross-section of the compressible strut 82, showing the screws 148 and washers 150 that tighten the sleeves 144 onto the strut lugs 142 while attaching the strut clevises 140 to the strut lugs 142. The springs 146, shown in this embodiment stacked in series and nested in pairs, are selected and configured to provide the desired preload at the interface when fully mated.

[0028] 5 shows the distal end of the active interface assembly. As described above, radial latches, each consisting of a rocker arm 80, latch roller 84 and compressible strut 82, are arranged on equally spaced radial planes (nine in this embodiment). The active side electrical connector 118 is attached to a connector plate 190.

[0029] FIG. 7 shows a deformable attachment of the connector plate 190 to the cable housing 120. The sleeve 192, spring 194 and washer 196 arrangement allows the connector plate 190 to sit still during the final increment of forward movement of the cable housing 120 through its attachment to the movable inner housing 100. The lock nut 200, screw 202 and washer 198 allow the sleeve to remain rigidly attached to the connector plate 190. FIG. 7 shows one of three or more such spring / sleeve arrangements. The deformable attachment of the connector allows the end of the mechanism stroke to be somewhat decoupled from the end of the connector mating stroke, thus preventing the connector from being overloaded by actuation forces applied to the movable inner housing 100.

[0030] 8 shows a robotic arm 500 having a first active interface assembly 12 on its proximal end attached to a passive interface assembly 14 mounted on a spacecraft 510, and a second active interface assembly 12 on a manipulator distal end positioned on a second passive interface assembly 14 on the spacecraft 510. When the robotic arm 500 is operated from a ground station, instructions are communicated from Earth 520 to the spacecraft 510 via wireless communication 530.

[0031] FIG. 9 shows a robotic arm 500 having a first active interface assembly 12 on its proximal end attached to a passive interface assembly 14 mounted on a spacecraft 510, and a second active interface assembly 12 on a manipulator distal end positioned on multiple payloads 300, each having a passive interface assembly 14 mounted thereon.

[0032] In the operation shown in Figures 8 and 9, the active interface assembly 12 attached to the free end of the robot arm 500 is to be coarsely aligned with the passive interface assembly 14 which is in turn fixed to an object coupled to the robot arm at its proximal end. The object can be a spacecraft 510 or a payload 300. The active and passive interface assemblies 12 and 14 are coarsely aligned with respect to each other by the robot arm 500 sufficiently to ensure that they can be connected from "tooth" to "space" with the face couplings in the correctly indexed positions for the final engagement of the active side 118 and passive side 72 connectors, respectively. This coarse alignment is accomplished through one or more of several means of manipulator control. A human operator can teleoperate the movement of the free end of the robot arm 500 towards the passive interface assembly 14 using a target (not shown) attached either on or near the active interface assembly 12 and with the aid of a camera (not shown). In other embodiments, the manipulator movements can be automated, with a computerized image recognition system mounted on the robotic arm aligning the interface assemblies by viewing one or more landmarks mounted on one or both of the active and passive interface assemblies. While the capture capability of the interface can be adjusted as described above, a current embodiment with a moment capacity of 3,200 Nm and an outer diameter of 340 mm can close the interface to an acceptable extent before first contact occurs with a lateral offset of 2.5 cm, roll and sway (angular) offset of 2.8 degrees, and combinations thereof. This allows the interface to be closed with a residual error equivalent to existing visual servoing systems.

[0033] Referring to Figures 6A-6F, the operation of mating the active interface assembly to the passive interface assembly is described. Each of Figures 6A-6F illustrates a key point in the operation cycle, each point being a particular state of the mating process. Progression from one state to the next is accomplished by energizing the rotary actuator 20 to drive the movable inner housing 100 forward toward the passive interface assembly 14 which is mounted on the sequentially selected object. The actuator 20 transmits torque through the actuator pinion 166, which transfers the torque to the drive gear 102 through the idler gear 104. The drive gear 102 is attached to the ball screw 90 and transfers the torque to the ball screw 90. Each of the corresponding ball nuts 92 is attached to the movable inner housing 100 such that it is prevented from rotating. The three rotating ball screws 90 act in unison to drive the inner housing 100 forward. The movement of the three rotating ball screws 90, in conjunction with the coplanar arrangement of the link pivot pins 130 at the distal end of the movable inner housing 100, enables the inner housing axis 230 to remain aligned with the fixed outer active interface housing axis 240.

[0034] FIG. 6A shows the movable inner housing 100 fully retracted and ready to latch. The latch (consisting of rocker arm 80, compressible strut 82 with spring 146, and latch roller 84, respectively) is fully open, allowing for the maximum allowable misalignment between the active interface assembly 12 and the passive interface assembly 14. For illustrative purposes, the passive interface assembly 14 is shown fully aligned to the active interface assembly 12, except for a gap of about 25 mm. The capture envelope also allows for lateral offset, roll and sway (angular) offset, which are not shown in this view. FIG. 6B shows the contact condition, where the movable inner housing 100 has advanced along axis 240 sufficiently for the radial latch rollers to contact the inner rim of the passive interface. While this view shows all latch rollers 84 contacting at the same time, this could more typically occur sequentially as additional initial coarse alignment errors are introduced. Regardless of the number of latch rollers 84 that contact, and regardless of the inner housing position when contact first occurs, continued movement of the radial latch from this point forces the interface to seat. The roll alignment guides 74 on the underside of the peripheral rim of the passive interface assembly 14 interact with the rocker arms 80 and latch rollers 84 of the radial latch to achieve rough roll and lateral alignment of the active and passive interface assemblies 12 and 14, respectively. This allows the teeth of the active and passive surface coupling flanges 40 and 50 on the active interface assembly 12 and passive interface assembly 14, respectively, to properly engage before fully seating. As the mechanism progresses through its closing stroke, the latch rollers 84 collectively form a continuously expanding diameter and interact with both the peripheral rim and alignment guides 74 of the passive surface coupling interface flange 50. When the collective diameter of the latch rollers 84 exceeds the inner diameter of the peripheral rim, capture is complete.

[0035] 6C shows the seated condition where the movable inner housing 100 has advanced far enough to force contact with the facial couplings 40 and 50 of the active and passive interface assemblies 12 and 14, respectively. The seating of the active and passive facial coupling flanges 40 and 50 achieves the final alignment of the two active and passive interface assemblies 12 and 14, respectively. Continued movement of the movable inner housing 100 begins to compress the springs 146 in each of the radial latch compressible struts 82 while the alignment features 250 and 260 of the active and passive side electrical connectors, respectively, interact and engage. The deformable mounting of the active side connector plate allows the active assembly electrical connector 118 to align with the passive assembly electrical connector 72 independently of the alignment of the active and passive side facial couplings.

[0036] 6D shows the maximum interface load condition. As the moveable inner housing 100 continues to move forward, the springs 146 of the compressible struts 82 achieve maximum compression when the pivots are flush at both ends of all the compressible struts 82. This is the point of maximum preload at the interface and the point of minimum force to drive the moveable inner housing 100 forward due to the mechanical advantage provided by the geometry. From this point forward, the latch becomes self-locking and the interface cannot be forced open by an external load. The connector pins and sockets of the passive and active interface electrical connectors 72 and 118 begin to engage.

[0037] 6E shows the electrical connectors 72 and 118 in a mated state. The electrical connectors 72 and 118 are fully mated just prior to the end of the stroke of the inner housing 100. As the moveable inner housing 100 continues to move forward, the springs 146 in the compressible struts or links 82 relax slightly.

[0038] FIG. 6F shows the fully mated state of the active and passive interface assemblies 12 and 14, respectively. This state also represents the active and passive interface assemblies 12 and 14 in a self-locked state. At the end of the inner housing 100 stroke, the interface is fully mated. At this point, the three pads 124 on the front of the movable inner housing 100 contact the surface to which the passive interface assembly 14 is attached. These three contact points become the reaction points of the radial latches after the electrical supply to the actuator is stopped. Thus, the system does not require a brake. The springs 146 of the compressible links are relaxed to their final working length, establishing a fixed preload force exerted by each latch. The movement between the mated position or state of the connector in FIG. 6E and the fully mated position or state shown in FIG. 6F is provided by the compression of the springs in the deformable mounts of the connector plates.

[0039] Driving the movable inner housing 100 in the reverse direction opens the interface using the same sequence of events but in the reverse order, allowing the electrical connectors 72 and 118 to fully disconnect before the interface is released.

[0040] The system is advantageous for several reasons. First, actuation is via a single linear stroke, sequentially capturing, aligning, seating and latching the interface, mating the electrical connector in the final millimeters of the stroke. Once the rotary actuator 20 is actuated, the critical capture envelope and self-alignment is achieved via multiple rotating latches. The interface preload is tuned via selection of appropriate spring 146 stiffness and is evenly distributed around the interface circumference with a short, direct load path. The system embodies a rich design space, including robot-based fixtures, tool fixtures and simple grippers, as well as design modifications for very large, externally driven, module-to-module interfaces.

[0041] Second, with the exception of the external radial latch embodiment (described below), linear actuation uses a novel concept for guidance that does not employ a linear carriage or sliding bushings. Linear motion is achieved by ensuring that the proximal end of the moveable inner housing 100 remains perpendicular to the axis of the end effector.

[0042] This orientation control, in conjunction with the coplanar placement of the pivot pins 130 of the moveable inner housing 100 (to which the compressible struts 82 are attached), allows the inner housing axis 230 to remain aligned with the end effector axis 240. Orientation control of the moveable inner housing 100 is achieved by driving said housing with multiple ball screws 90 driven from a central rotary actuator 20. Avoiding the use of linear tracks and carriages results in a simpler, lighter design with fewer parts and less precision requirements.

[0043] Third, the actuation load is highest immediately after the onset of strut compression, thus occurring well before final latching of the interface. The actuation load then decreases as the strut approaches the "on-center" condition. Once past center, the actuation load approaches zero, or may actually become negative, prior to connector engagement. This allows the actuation torque required to release the interface to be relatively low compared to the peak actuation torque. Low release torque is also desirable for external EVA actuation implementations.

[0044] Fourth, at the end of the stroke, the latch becomes self-locking (an externally applied load cannot force the latch open).

[0045] Fifth, the system is scalable in several parameters. More specifically, with respect to radius, the contact radius is the fundamental variable in moment capacity. The inner and outer pivot radii can be scaled together or individually. Selectively scaling these three radii allows for tradeoffs between interface capacity, capture envelope, and connector volume.

[0046] With regard to the number of latches, the minimum number is three, and the number of latches can vary. The space between the latches can accommodate other devices such as proximity sensors, force / moment sensors, cameras and lighting, if it is desired that these elements not be mounted externally to the active interface assembly 12. This is particularly advantageous when considering smaller sized interfaces for dexterous robots. For example, with a 75 mm load radius (i.e., a 150 mm diameter "tool" interface), a three latch design can respond to a 250 Nm tipping moment while allowing for enough inter-latch volume between the three latches to accommodate force / moment sensing or proximity sensing devices. Larger robot arm based interfaces (as shown in the current embodiment) require more latches to achieve both the required high preload (since the interface preload is the sum of the individual contributions of each latch) and the uniform distribution of load that is highly desirable for such applications.

[0047] With regard to electrical connector capacity, the number and arrangement of electrical contacts can be tailored depending on the end application, or in the extreme case of a grip-only interface, the central space of the connector can be reduced to zero. In addition to this, higher packing efficiencies can be achieved by replacing the OTS connector with custom-arranged contact pins.

[0048] Sixth, with respect to interface preload, the selection, placement and mounting preload of spring 146 can be adjusted to match the interface preload, allowing greater flexibility in the selection of the other previously mentioned scalable parameters.

[0049] In a first embodiment, an interface coupling system is provided for removably securing a selected object to a spacecraft and for securing various payloads to selected objects and to each other. The coupling system is comprised of an active interface assembly and a passive interface assembly. The active interface assembly includes: 1) a flat coupling located at its proximal end for structurally mounting it to a robotic arm; 2) an electrical connection for electrically connecting it to the robotic arm; 3) a stepped interface coupling located at its distal end; 4) three or more latches arranged on a radial surface (radial latches), 5) each latch includes a compressible strut sized to create a predictable preload at the interface; 6) each latch has a coupling to an inner housing that is driven forward (towards the passive side) in a single continuous motion to achieve capture, alignment, seating, electrical connection and latching of the interface; and 7) electrical connectors and / or contacts sufficient to support the needs of the robotic arm and future payloads. The passive interface assembly includes: 1) a first coupling mounted at its proximal end that complements a second coupling on the active interface assembly for structurally mounting the passive interface assembly to the second coupling by fastening a rim of the first coupling to the second coupling with the radial latch; 2) a second coupling mounted at its distal end for attaching the passive interface assembly to a desired object; 3) alignment guides that complement the radial latch; and 4) sufficient electrical connectors and / or contacts to support the needs of the particular instance of the passive interface (whether a robotic arm base or a payload handling point).

[0050] In an alternative embodiment, an external radial latch interface system is provided in which the active interface assembly includes an active interface housing, a moveable outer housing, three or more latches external to the active interface housing comprised of rocker arms, compressible links and latch rollers arranged on a radial surface having two pivotal connections to the active interface housing, a linkage actuated by the moveable outer housing, and an actuator and mechanism for actuating the translational motion, in which the passive interface assembly includes an outwardly facing coupling flange corresponding to the external arrangement of the radial latches.

[0051] The external radial latch embodiment, shown in Figures 10 and 11, is ideally suited for smaller, more dexterous robotic systems with a moment capacity at the interface typically of 300Nm or less. This capacity can be readily achieved by applying compressible struts of similar volume and size to those of the first embodiment in the external radial latch arrangement using a latch radius of approximately 75mm. The external radial latch arrangement leaves central volume of the fixed inner housing available for a central close-coupled connector.

[0052] This external radial latch embodiment differs from the first embodiment in that it requires a drive linkage incorporating track rollers and ramps to force each radial latch closed when the translating outer housing is moved in a forward direction and open when the translating outer housing is moved in a rearward direction. It instead requires the use of precision linear guides to control the movement of the translating outer housing relative to the fixed inner housing.

[0053] Despite these differences, the core concept remains the same, with a single actuation of three or more latches 81 located on the radial surfaces sequentially capturing, aligning, seating and latching the interfaces while mating the electrical connectors at the final portion of the mechanism's stroke.

[0054] 10 and 11 depict an embodiment of an external radial latch interface system 610. The active interface assembly 612 includes a fixed inner housing 618, a movable outer housing 620, an active side electrical connector 118 with connector alignment features 250, four external latches consisting of a radially disposed rocker arm 80 with two pivotal connections to the active interface housing, a compressible link 82 and a latch roller 84, and an actuator 20 and mechanism for driving translational motion via a ball screw 90. The passive interface assembly 614 includes a passive interface housing 616, a passive side electrical connector 72 with connector alignment features 260, and an alignment guide 74. The active and passive interface assemblies interface via coupling contact surfaces 42 and 52 on the active and passive surface coupling flanges 40 and 50, respectively. Also evident in Figures 10 and 11 are bolt driver 634 and passive interface driving bolt 636, which are typical accessories of a dexterous robotic interface, but are depicted here only to demonstrate feasibility.

[0055] 12 depicts the track roller and ramp arrangement required to actuate the external placement of the latch. For each latch, the link pivot pin 130 forms a common center for the drive roller 624, drive link 626, compressible strut clevis 140, and kick roller 630. The drive roller 624 is guided by the drive ramp 622 until the portion of the stroke of the mechanism is fully retracted to on-center, while the kick roller, guided by the kick ramp, controls the position of the link pivot pin 130 until the portion of the stroke is on-center to fully mated. This roller and ramp arrangement allows for complete isolation of the mating of the electrical connector from the mechanical latch of the interface.

[0056] 13A to 13F depict the mechanism in key positions. The drive linkage by which the movable outer housing 620 actuates the radial latch 81 is based on the pivotal connection of the drive link 626 to the active interface housing 618 and the interaction of the rollers and ramps depicted in FIG.

[0057] FIG. 13A shows the ready-to-latch stage where the mechanism is fully retracted, the latches are fully open, and there may be significant misalignment between the active and passive interface assemblies. As the mechanism progresses through its stroke, one or more latches contact on or under the rim of the passive surface coupling flange 50, as shown in FIG. 13B. Continued actuation closes the interface while the interaction of the rocker arms 80 and contact rollers 84 with the alignment guides 74 aligns the active and passive interfaces, ultimately directing them to a seated position as shown in FIG. 13C. Further actuation compresses the springs 146 of each compressible strut 82. The point of maximum load is shown in FIG. 13D and is further described as the on-center condition. Actuation beyond this point creates a small gap between the drive roller 624 and the drive ramp 622 while the kick roller 630 contacts the kick ramp 628. Although a slight relaxation of the springs 146 in each compressible strut 82 has occurred between the on-center position in Figure 13D and the off-center condition in Figure 13E, continued actuation no longer affects the radial latch because the kick rollers 630 and kick ramps 628 are configured to hold the latched position stationary while the translating outer housing 620 continues to drive the active side electrical connector 118 towards engagement with the passive side electrical connector 72. Figure 13E shows the connectors beginning to engage, while Figure 13F shows the fully mated condition.

[0058] In a third embodiment, an externally actuated radial latch interface system is provided where the actuator is replaced by an external drive shaft in the form of a hex bolt head, such as that actuated by a dexterous robot with a bolt driver. This third embodiment uses an internal radial latch similar to the first embodiment, and is further modified to sacrifice the capture envelope to minimize the stroke and overall length of the mechanism. This configuration is suitable to function as a separation planar mechanism, such as that used to separate parts of a robot arm from itself to increase the ease of repair or upgrade. This is particularly useful in scenarios where there are two robot arms that also need to repair each other. An embodiment of an externally actuated radial latch interface system 710 inserted between the end of the boom and the cluster of joints to which it is connected increases the ease of either repair or complete replacement of the joint cluster with the end effector. Similarly, the addition of an elbow joint on either side increases the ease of complete disassembly of the robot arm to the boom and joint assembly.

[0059] 14 and 15 depict an embodiment of an externally driven radial latch interface system 710. The active interface assembly 712 comprises a fixed outer housing 718, a translating movable inner housing 100, an active side electrical connector 118 with connector alignment features 250, and nine internal latches consisting of rocker arms 80, compressible links 82, and latch rollers 84 arranged on a radial surface with pivotal connections to both the fixed outer housing and the translating inner housing. An external embodiment of a passive interface assembly 614 is mounted on the outside of the fixed outer housing 718 with its axis perpendicular to the axis of the active interface assembly 712. A passive interface drive bolt 636 is used to transfer rotational motion from an external source, such as a dexterous robot bolt driver, via an idler gear 104 to a drive shaft 720 that drives a worm 722 and a wheel 724. The rotational motion is further distributed to a ball screw 90 via a drive gear 102.

[0060] The passive interface assembly 714 includes a passive interface housing 716, a passive side electrical connector 72 having connector alignment features 260, and alignment guides 74. The active and passive interface assemblies interface via coupling contact surfaces 42 and 52 on the active and passive surface coupling flanges 40 and 50, respectively.

[0061] FIG. 16A shows the mechanism fully retracted and the latch fully open, ready to latch. The shape of the rocker arm 80 has been modified from the first embodiment to minimize the stroke of the mechanism. The capture envelope of the active assembly 12 is correspondingly reduced, but insertion of the active interface assembly 712 into the passive interface assembly 714 is performed by a dexterous robot on a known trajectory, compared to the scenario of the first embodiment, where a more significant offset may occur from a visual servo controlled approach. In this case, the ample lead-in surfaces on the passive interface coupling 50 of the latch roller 84 are appropriate to enhance ease of insertion.

[0062] 16B shows the fully mated condition where the moveable inner housing 100 has moved sufficiently to fully engage the active and passive electrical connectors 118 and 72, respectively, and drive the compressible strut 82 past center. In this condition the mechanism is self-locking, the external tool drive can be removed, and the interface will remain closed regardless of any amount of externally applied load.

[0063] In the above embodiments, the present invention further comprises a sensor system attached to one or both of the active and passive interface assemblies for enabling remote operator control of all activities associated with aligning and latching the active and passive interface assemblies together based on feedback from the sensor system, the sensor system comprising any one or combination of a camera-based vision system, a proximity sensor, a radar and a LIDAR. [Explanation of symbols]

[0064] An embodiment of the active-passive interface system includes the following components with reference to the drawings: 10 Separate both active and passive interface assemblies 12 Active Interface Assembly 14 Passive Interface Assembly 16 Passive Interface Housing 18 Fixed outer active interface housing 20 Rotary Actuator 24 Inner cable guide 40 Active Face Coupling Interface Flange 42 Active coupling contact surface 50 Passive Surface Coupling Interface Flange 52 Passive coupling contact surface 60 Passive interface mounting bolts, washers and thermal bushings 70 Passive Interface Connector Housing 72 Passive side electrical connector 74 Latch Alignment Guide 80 Rocker arm 81 Radial Latch 82 Compressible Strut 84 Latch roller 86 Bush 88 Latch roller pin 90 Ball screw 92 Ball nut 94 Lock nut 96 Bearing 100 Movable inner housing 102 Drive gear 104 Idler gear 110 Outer cable guide 114 Outer cable guide flared opening 118 Active side electrical connector 120 Cable Housing 122 Cable cover 124 Inner housing end stopper 126 Idler housing 128 idler shaft 130 Link pivot pin 140 Strut clevis 142 Strut protrusion 144 Strut sleeve 146 Spring 148 Screw 150 Washer 160 Drive housing 162 Drive plate 164 Actuator Adapter 166 Actuator pinion 168 Pinion spacer 170 Needle bearing 172 Thrust washer 174 Bearing retainer 176 Bearing spacer 190 Connector mounting plate 192 Sleeve 194 Spring 196 Washer 198 Washer 200 Lock nut 202 Screw 210 Bush 212 Rocker pivot pin 220 connection pins 230 Axis of movable inner housing 100 240 Fixed outer active interface housing 18 axis 250 Active side connector alignment function 260 Passive side connector alignment function 300 Payload 500 Robot Arm 510 Spaceship 520 Earth 530 Wireless Communications 610 Both external active and passive interface assemblies 612 External Active Interface Assembly 614 External Passive Interface Assembly 616 External Passive Interface Housing 618 External Active Interface Housing 620 Movable outer housing 622 Driving Lamp 624 Drive roller 626 Drive Link 628 Kick Lamp 630 Kick Roller 632 Linear Bearing 634 Bolt Driver 636 Passive Interface Drive Bolt 710 Both externally driven active and passive interface assemblies 712 Externally Driven Active Interface Assembly 714 Externally Driven Passive Interface Assembly 716 Externally Driven Passive Interface Housing 718 Externally Driven Active Interface Housing 720 Drive shaft 722 Warm 724 Wheels

Claims

1. A radial latch interface mechanism for releasably coupling a first object and a second object, comprising: a) a passive interface assembly including a passive interface housing having a distal end to which the second object is structurally attachable and a proximal end having a passive surface coupling interface flange; b) an active interface assembly, a fixed outer active interface housing having a longitudinal axis, a proximal end to which the first object is structurally mountable, and a distal end including an active surface coupling interface flange configured to mate with the passive surface coupling interface flange; a movable inner housing having an axis of the movable housing collinear with the longitudinal axis to define a longitudinal axis, the movable inner housing being movably mounted to the fixed outer active interface housing by at least three radial latches such that movement of the movable inner housing relative to the fixed outer active interface housing is limited to translation along the longitudinal axis; a single rotary drive mechanism operably connected to the movable inner housing configured to translate the movable inner housing along the longitudinal axis in a first direction and a second direction opposite the first direction; an active interface assembly including: Equipped with c) a radial latch interface mechanism wherein when the active surface coupling interface flange is coarsely aligned with the passive surface coupling interface flange such that the passive interface assembly is within a capture envelope of the active interface assembly, and when the single rotary drive mechanism is actuated to translate the moveable inner housing in the first direction in a continuous motion towards the passive interface assembly, the at least three radial latches extend around the passive surface coupling interface flange such that the radial latches sequentially achieve capture, alignment, seating and securement of the passive surface coupling interface flange relative to the active surface coupling interface flange, and when the single rotary drive mechanism is actuated to translate the moveable inner housing in the second direction away from the passive interface assembly, the at least three radial latches retract from the passive surface coupling interface flange such that the passive surface coupling interface flange is not secured to the active surface coupling interface flange.

2. 1. A radial latch interface mechanism for releasably coupling one end of a robot arm or a first object to a second object, the radial latch interface mechanism further comprising:

2. The radial latch interface mechanism of claim 1, wherein c) the robotic arm coarsely aligns the active interface assembly with the passive interface assembly within a capture envelope of the active interface assembly.

3. 3. The radial latch interface mechanism of claim 2, wherein each of the at least three radial latches includes a rocker arm, a compressible strut, a latch roller, a bushing, and a latch roller pin, the rocker arm is pivotally attached to a distal end of the fixed outer active interface housing, the compressible strut has two ends longitudinally connected by a resilient material such that the compressible strut compresses longitudinally when a compressive force is applied to the two ends, one of the two ends is pivotally attached to a distal end of the movable inner housing and the other of the two ends is pivotally attached to the rocker arm, each of the at least three radial latches has a plane of rotation parallel to the longitudinal axis, and movement of the rocker arm and compressible strut is limited to rotation in the plane of rotation.

4. 4. The radial latch interface mechanism of claim 3, wherein upon securing the passive surface coupling interface flange against the active surface coupling interface flange, the compressible strut of each of the at least three radial latches applies a force to the rocker arm to secure the passive surface coupling interface flange to the active surface coupling interface flange.

5. 5. The radial latch interface mechanism of claim 3 or 4, wherein each of the at least three radial latches includes a latch roller rotatably mounted to the rocker arm such that the latch roller can roll along the passive surface coupling interface flange during extension or retraction of the at least three radial latches.

6. 6. The radial latch interface mechanism of claim 2, wherein the passive interface housing includes radial latch alignment guides on a distal end of the passive surface coupling interface flange positioned such that when the at least three radial latches are extended around the passive surface coupling interface flange, at least one of the at least three radial latches engages at least one of the radial latch alignment guides to achieve a required alignment of the active interface assembly with the passive interface assembly such that active and passive coupling contact surfaces engage and seat.

7. The radial latch interface mechanism of claim 6 , wherein the passive interface housing includes a pair of latch alignment guides for each of the at least three radial latches.

8. 8. The radial latch interface mechanism of claim 2, wherein the active surface coupling interface flange includes an active coupling contact surface and the passive surface coupling interface flange includes a complementary passive coupling contact surface configured to mate with the active coupling contact surface such that the active and passive surface coupling interface flanges form a rigid connection when the active surface coupling interface flange and the passive surface coupling interface flange are clamped together.

9. 9. The radial latch interface mechanism of claim 2, wherein the active interface assembly includes an active side electrical connector, and the passive interface assembly includes a passive side electrical connector configured to connect to the active side electrical connector and form an electrical interface capable of transferring at least one of power, data, and video between the active interface assembly and the passive interface assembly.

10. 10. The radial latch interface mechanism of claim 9, wherein the active side electrical connector has an active side connector alignment feature and the passive side electrical connector has a passive side connector alignment feature complementary to the active side connector alignment feature such that during mating, the active side connector alignment feature engages the passive side connector alignment feature to achieve precise alignment of the active and passive side electrical connectors.

11. 10. The radial latch interface mechanism of claim 9, wherein the active side electrical connector is mounted to a distal end of the movable inner housing and configured to form the electrical interface after the active and passive surface coupling interface flanges are clamped together.

12. the active side electrical connector includes a cable connecting the active side electrical connector to a robotic system, the cable being enclosed within at least one telescopic cable guide; 10. The radial latch interface mechanism of claim 9, wherein each of the at least one telescopic cable guide includes an outer cable guide mounted to a drive plate and a complementary inner cable guide mounted to the moveable inner housing, the inner cable guide configured to form a closure side tube with the outer cable guide such that the inner cable guide can translate longitudinally within the outer cable guide in response to movement of the moveable inner housing relative to the fixed outer active interface housing.

13. 10. The radial latch interface mechanism of claim 9, wherein the active side electrical connector is mounted on a connector mounting plate, the connector mounting plate being attached to a distal end of the movable inner housing by at least one deformable mounting comprising a resilient material such that a normal force exerted by the active side electrical connector on any object is limited to a force generated by the at least one deformable mounting.

14. The radial latch interface mechanism of claim 9 , wherein the passive interface housing includes a passive interface connector housing mounted opposite the active interface assembly, the passive side electrical connector being mounted within the passive interface connector housing.

15. the fixed outer active interface housing is generally cylindrical, the movable inner housing is generally cylindrical and concentrically positioned within the fixed outer active interface housing, the fixed outer active interface housing defines the longitudinal axis, and the at least three radial latches are radially attached to the longitudinal axis; the passive interface housing includes a generally cylindrical passive housing wall having a radius that is the same as a radius of the fixed outer active interface housing, the passive surface coupling interface flange extending inwardly from the passive housing wall such that the passive surface coupling interface flange is generally annular and has a radius that is smaller than a radius of the passive housing wall; 15. The radial latch interface mechanism of claim 2, wherein the first direction is toward the distal end of the fixed outer active interface housing and the second direction is toward the proximal end of the fixed outer active interface housing such that when the movable inner housing is retracted toward the proximal end of the fixed outer active interface housing, the at least three radial latches retract and a latch radius decreases and when the movable inner housing is extended toward the distal end of the fixed outer active interface housing, the at least three radial latches extend and the latch radius increases, the latch radius having a minimum radius smaller than a radius of the active surface coupling interface flange and the latch radius having a maximum radius greater than a radius of the active surface coupling interface flange.

16. 16. The radial latch interface mechanism of claim 2, further comprising at least one of a sensor, a camera and an illumination device.

17. the first object is a robotic manipulator, and the second object is one of a spacecraft and a payload; The radial latch interface mechanism of claim 2 , wherein the robotic arm coarsely aligns the active interface assembly with the passive interface assembly within a capture envelope of the active interface assembly.

18. 1. A robotic manipulator system for use with a spacecraft, comprising:

2. A radial latch interface mechanism according to claim 1, the at least three radial latches each include a latch portion such that when the moveable inner housing translates in the first direction along the longitudinal axis, the latch portion of each of the at least three radial latches pivots toward the active surface coupling interface flange, and when the moveable inner housing translates in the second direction, opposite the first direction, along the longitudinal axis, the latch portion of each of the at least three radial latches retracts from the active surface coupling interface flange; c) a robotic arm structurally attached at a proximal end to said spacecraft and a first active interface assembly of said active interface assemblies structurally attached at a distal end thereof; a passive surface coupling interface flange that is adapted to couple to the active surface coupling interface flange and the passive surface coupling interface flange, the passive surface coupling interface flange being clamped together by the latch portions of each of the at least three radial latches, and the active surface coupling interface flange being clamped together by the latch portions of each of the at least three radial latches, and the passive surface coupling interface flange being clamped together by the latch portions of each of the at least three radial latches, and the passive surface coupling interface flange being clamped together by the latch portions of each of the at least three radial latches, and the passive surface coupling interface flange being clamped together by the latch portions of each of the at least three radial latches, and the passive surface coupling interface flange being clamped together by the latch portions of each of the at least three radial latches, and the active surface coupling interface flange being clamped together by the latch portions of each of the at least three radial latches, and the passive surface coupling interface flange being clamped together by the latch portions of each of the at least three radial latches, and the passive surface coupling interface flange being clamped together by the latch portions of each of the at least three radial latches, and the passive surface coupling interface flange being clamped together by the latch portions of each of the at least three radial latches, and the passive surface coupling interface flange being clamped together by the latch portions of each of the at least three radial latches, and the passive surface coupling interface flange being clamped

19. 20. The robotic manipulator system of claim 18, wherein the robotic arm is remotely operated by a human operator on Earth via wireless communication.

20. 20. The robotic manipulator system of claim 18, wherein the robotic arm is automatically operated by a computer guidance system including a computerized image recognition system attached to the robotic arm.

21. 21. The robotic manipulator system of claim 18, 19 or 20, wherein one passive interface assembly is structurally attached to a payload, and the robotic manipulator system is configured to manipulate the payload with the robotic arm of the robotic manipulator system.

22. 22. The robotic manipulator system of claim 18, wherein a second active interface assembly is structurally mounted to the robot arm at a proximal end thereof and a first passive interface assembly is structurally mounted to the spacecraft, the second active interface assembly being fixed to the first passive interface assembly.

23. 23. The robotic manipulator system of claim 22, wherein the robotic manipulator system includes a second passive interface assembly mounted to the spacecraft, the first active interface assembly configured to couple to the second passive interface assembly and decouple the second active interface assembly from the first passive interface assembly such that a distal end of the robotic arm becomes a proximal end and a proximal end of the robotic arm becomes a distal end.

24. 24. The robotic manipulator system of claim 18, wherein each of the at least one active interface assembly includes an active electrical interface, and each of the at least one passive interface assembly includes a passive electrical interface configured to connect to the active electrical interface and form an electrical interface capable of transferring at least one of power, data, and video between the active interface assembly and the passive interface assembly.

25. 23. The robotic manipulator system of claim 22, wherein the second active interface assembly includes an active electrical interface, and the first passive interface assembly includes a passive electrical interface configured to connect to the active electrical interface and form an electrical interface that provides power and data to the robotic arm.

26. an exterior radial latch interface mechanism for releasably coupling a first object and a second object, the exterior radial latch interface mechanism comprising: a) an external passive interface assembly including a passive side electrical connector and a housing having a distal end to which the second object is structurally attachable and a proximal end having an outwardly facing passive side coupling interface flange; b) an external active interface assembly, an active side electrical connector and an external active interface housing having a longitudinal axis, a proximal end to which the first object is structurally mountable, and a distal end including an active surface coupling interface flange configured to mate with the passive surface coupling interface flange; a movable outer housing external to the external active interface housing and constrained to movement along the longitudinal axis by linear bearings attached to the external active interface housing and configured to control a position of a link pivot pin along with one drive ramp and kick ramp for each of at least three radial latches, wherein movement of the movable outer housing relative to the external active interface housing drives the at least three radial latches to close when the movable outer housing is moved along the longitudinal axis in a first direction toward the external passive interface assembly and to open the at least three radial latches when the movable outer housing is moved in a second direction opposite the first direction; a single rotary drive mechanism operably connected to the movable outer housing, the single rotary drive mechanism configured to translate the movable outer housing in the first and second directions along the longitudinal axis; an external active interface assembly including: Equipped with c) an external radial latch interface mechanism wherein when the external active interface assembly is coarsely aligned with the external passive interface assembly such that the external passive interface assembly is within a capture envelope of the external active interface assembly and when the single rotary drive mechanism is actuated to translate the moveable outer housing in the first direction, the at least three radial latches close around the passive surface coupling interface flange such that the radial latches sequentially capture, align, seat, electrically connect and secure a self-locking mounting of the passive surface coupling interface flange to the active surface coupling interface flange and when the single rotary drive mechanism is actuated to translate the moveable outer housing in the second direction, the active side and passive side electrical connectors disengage and the at least three radial latches retract from the passive surface coupling interface flange such that the passive surface coupling interface flange is not secured to the active surface coupling interface flange.

27. 1. A method for coupling one end of a robotic arm or a first object to a second object, comprising the steps of: a) robotically positioning the robot arm or an external active interface assembly mounted on the first object relative to within a capture envelope of a passive interface assembly mounted on the second object; The passive interface assembly includes: the second object includes a passive interface housing having a distal end structurally mountable thereto and a proximal end having a passive surface coupling interface flange and a passive coupling interface at a proximal end of the passive surface coupling interface flange; The active interface assembly includes: a stationary inner housing having a proximal end to which the robot arm is structurally mountable and a distal end including an active surface coupling interface flange configured to mate with the passive surface coupling interface flange of the passive interface housing; a movable outer housing connected to the fixed inner housing, the movable outer housing movably mounted to the active interface housing via linear bearings and three or more latches on the exterior of the active interface housing, the latches being comprised of rocker arms, compressible links and latch rollers arranged in radial planes having two pivotal connections to an active interface housing; a single rotary drive mechanism operably connected to the movable outer housing, the single rotary drive mechanism configured to translate the movable outer housing along a longitudinal axis in a first direction and a second direction opposite the first direction; a respective linkage of the latches actuated by the movable outer housing through interaction with a drive roller and drive ramp in the first direction and a kick roller and kick ramp in the second direction; Including, b) commencing driving the single rotary drive mechanism in the first direction such that the movable outer housing moves toward the passive interface assembly and at least three radial latches extend about the passive surface coupling interface flange; c) continuing to drive the single rotary drive mechanism in the first direction such that the at least three radial latches align and seat the active surface coupling interface flange to the passive surface coupling interface flange; d) continuing to drive said single rotary drive mechanism in said first direction until such active interface assembly achieves a self-locked condition with the passive interface assembly.

28. 28. The method of claim 27, further comprising: after securing the passive coupling interface to the active coupling interface, activating the single rotary drive mechanism to translate the movable outer housing in the second direction such that a latch portion of each of the at least three radial latches retracts from the passive surface coupling interface flange to disengage the passive coupling interface from the active coupling interface.

29. 28. The method of claim 27, wherein the first object is a robotic manipulator, and the active interface assembly is positioned by the robotic manipulator in a step of achieving a coarse alignment.

30. 1. A method for coupling and decoupling an externally driven active interface assembly and an externally driven passive interface assembly, comprising: a) robotically positioning a first object having the externally driven active interface assembly within a capture envelope of the externally driven passive interface assembly attached to a second object; The externally driven passive interface assembly includes: an externally driven passive interface housing having a distal end to which the passive side electrical connector and the second object are structurally mountable and a proximal end having a passive side coupling interface flange; The externally driven active interface assembly comprises: an externally driven active interface housing having a proximal end to which the first object is structurally mountable and a distal end including an active surface coupling interface flange configured to mate with the passive surface coupling interface flange; a movable inner housing including an active side electrical connector, the movable inner housing being movably mounted to the externally driven active interface housing by at least three radial latches such that movement of the movable inner housing is constrained to be coaxial with the externally driven active interface housing; a rotary drive input shaft operably connected to the movable inner housing and configured to translate the movable inner housing coaxially with the external drive active interface housing in a first direction and in a second direction opposite the first direction; Including, b) applying a rotary drive input to the rotary drive input shaft in the first direction such that the movable inner housing moves toward the external drive passive interface assembly and the at least three radial latches extend about the passive surface coupling interface flange; c) continuing to apply a rotary drive input to the rotary drive input shaft in the first direction such that the at least three radial latches align and seat the active surface coupling interface flange to the passive surface coupling interface flange; d) continuing to apply a rotary drive input to said rotary drive input shaft in said first direction while engaging the active and passive side electrical connectors until such external drive active interface assembly achieves a self-locked condition with the external drive passive interface assembly.

31. The first object is a robot arm or a first object, a) robotically positioning the active interface assembly mounted on the robot arm or the first object relative to the passive interface assembly mounted on the second object such that the passive interface assembly is within a capture envelope of the active interface assembly; The passive interface assembly includes: the second object includes a passive interface housing having a distal end structurally mountable thereto and a proximal end having a passive surface coupling interface flange and a passive coupling interface at a proximal end of the passive surface coupling interface flange; The active interface assembly includes: An active side electrical connector; a fixed outer active housing having a proximal end to which the robot arm is structurally mountable and a distal end including an active surface coupling interface flange configured to mate with the passive surface coupling interface flange of the passive interface housing, the proximal axis being a longitudinal axis; a movable inner housing having a movable housing axis collinear with said longitudinal axis, said movable inner housing movably mounted to said fixed outer active housing by at least three radial latches such that movement of said movable inner housing relative to said fixed outer active housing is limited to translation along said longitudinal axis; a single rotary drive input shaft operably connected to the movable housing configured to translate the movable housing along the longitudinal axis in a first direction and a second direction opposite the first direction; Including, d) continuing to drive the single rotary drive input shaft in the first direction with the active electrical connector fully engaged with the passive electrical connector until the active interface assembly achieves a self-locked condition with the passive interface assembly.

32. 32. The method of claim 31, further comprising: after securing the passive interface assembly to the active interface assembly, actuating the single rotary drive input shaft to translate the movable inner housing in the second direction such that the active side electrical connector separates from the passive side electrical connector and a latch portion of each of the at least three radial latches retracts from the passive surface coupling interface flange, thereby releasing the passive interface assembly from the active interface assembly.

33. 33. The method of claim 31 or 32, wherein the first object is a robotic arm, and the active interface assembly is positioned by the robotic arm in a step of achieving coarse alignment.

34. A spacecraft, a network of distributed passive interface assemblies mounted to said spacecraft; a reconfigurable robotic arm having two opposing ends, the reconfigurable robotic arm including an active interface assembly mounted at each end of the opposing ends of the robotic arm to provide similar structural capabilities to the two opposing ends of the robotic arm; Equipped with the active interface assembly includes an active locking mechanism and a power connection between the active locking mechanism and the repositionable robotic arm; the active locking mechanism is configured to firmly and releasably engage and lock with an associated passive locking mechanism on the passive interface assembly for mating the active interface assembly to the passive interface assembly; The same structural capability on the two opposing ends of the robotic arm gives the robotic arm the ability to self-move, or walk, in both directions from one provided installation location on the spacecraft containing the passive interface assembly to another installation location on the spacecraft containing another passive interface assembly.

35. the passive interface assembly includes a passive interface housing having a distal end to which a second object is structurally mountable and a proximal end having a passive surface coupling interface flange; The active interface assembly includes: a fixed outer active interface housing having a longitudinal axis, a proximal end to which the robotic arm is structurally mountable, and a distal end including an active surface coupling interface flange configured to mate with the passive surface coupling interface flange; a movable inner housing having an axis of the movable housing collinear with the longitudinal axis to define a longitudinal axis, the movable inner housing being movably mounted to the fixed outer active interface housing by at least three radial latches such that movement of the movable inner housing relative to the fixed outer active interface housing is limited to translation along the longitudinal axis; a single rotary drive mechanism operably connected to the movable inner housing configured to translate the movable housing along the longitudinal axis in a first direction and a second direction opposite the first direction; Including, 35. The spacecraft of claim 34, wherein once the robotic arm coarsely aligns the active surface coupling interface flange of the active interface assembly with the passive surface coupling interface flange of the passive interface assembly with a capture envelope of a radial latch interface mechanism, when the single rotary drive mechanism is actuated, the moveable inner housing translates in the first direction in a continuous motion toward the passive interface assembly, the at least three radial latches extend about the passive surface coupling interface flange such that the radial latches sequentially achieve capture, alignment, seating and self-locking mounted securement of the passive surface coupling interface flange relative to the active interface assembly, and when the single rotary drive mechanism is actuated to translate the moveable inner housing in the second direction away from the passive interface assembly, the at least three radial latches retract from the passive surface coupling interface flange such that the passive surface coupling interface flange is not secured to the active surface coupling interface flange.

36. A spacecraft, an external radial latch interface mechanism for releasably coupling a first object and a second object, the external radial latch interface mechanism including a network of distributed passive interface assemblies mounted to the spacecraft; and a reconfigurable robotic arm having two opposing ends, the reconfigurable robotic arm including an active interface assembly mounted at each end of the opposing ends of the robotic arm to provide similar structural capabilities to the two opposing ends of the robotic arm; the active interface assembly includes an active locking mechanism and a power connection connected to the active locking mechanism and to the repositionable robotic arm; the active locking mechanism is configured to firmly and releasably engage and lock with an associated passive locking mechanism on the passive interface assembly for mating the active interface assembly to the passive interface assembly; The same structural capability on the two opposing ends of the robotic arm gives the robotic arm the ability to self-move, or walk, in both directions from one provided installation location on the spacecraft containing the passive interface assembly to another installation location on the spacecraft containing another passive interface assembly.

37. An exterior radial latch interface mechanism for releasably coupling a first object and a second object, comprising: a) the passive interface assembly including a housing having a distal end to which the second object is structurally attachable and a proximal end having an outwardly facing passive surface coupling interface flange; b) the active interface assembly, a fixed inner active interface housing having a longitudinal axis, a proximal end to which the first object is structurally mountable, and a distal end including an active surface coupling interface flange configured to mate with the passive surface coupling interface flange; a movable outer housing exterior to the fixed inner active interface housing and constrained to movement along the fixed inner active interface housing longitudinal axis by linear bearings attached to the fixed inner active interface housing and configured to control a position of a link pivot pin along with one drive ramp and kick ramp, respectively, for at least three radial latches, wherein movement of the movable outer housing relative to the fixed inner active interface housing drives the at least three radial latches to close when the movable outer housing is moved along the fixed inner active interface housing longitudinal axis in a first direction toward the passive interface assembly and to open the at least three radial latches when the movable outer housing is moved in a second direction opposite the first direction; a single rotary drive mechanism operably connected to the movable outer housing, the single rotary drive mechanism configured to translate the movable outer housing in the first and second directions along the longitudinal axis; the active interface assembly including: Equipped with 37. The spacecraft of claim 36, wherein: c) when the active interface assembly is coarsely aligned with the passive interface assembly such that the passive interface assembly is within a capture envelope of the active interface assembly, and when the single rotary drive mechanism is actuated to translate the moveable outer housing in the first direction, the at least three radial latches close around the passive surface coupling interface flange such that the radial latches sequentially capture, align, seat and secure a self-locking mounting of the passive surface coupling interface flange to the active surface coupling interface flange, and when the single rotary drive mechanism is actuated to translate the moveable outer housing in the second direction, the at least three radial latches retract from the passive surface coupling interface flange such that the passive surface coupling interface flange is not secured to the active surface coupling interface flange.

38. An exterior radial latch interface mechanism for releasably coupling a first object and a second object, comprising: a) the passive interface assembly including a passive interface housing having a distal end to which the second object is structurally attachable and a proximal end having a passive surface coupling interface flange; b) the active interface assembly, a fixed outer active interface housing having a longitudinal axis, a proximal end to which the first object is structurally mountable, and a distal end including an active surface coupling interface flange configured to mate with the passive surface coupling interface flange; a movable inner housing having an axis of the movable housing collinear with the longitudinal axis to define a longitudinal axis, the movable inner housing being movably mounted to the fixed outer active interface housing by at least three radial latches such that movement of the movable inner housing relative to the fixed outer active interface housing is limited to translation along the longitudinal axis; a single rotary drive mechanism operably connected to the movable inner housing configured to translate the movable inner housing along the longitudinal axis in a first direction and a second direction opposite the first direction; the active interface assembly including: Equipped with 37. The spacecraft of claim 36, wherein: c) when the active surface coupling interface flange is coarsely aligned with the passive surface coupling interface flange such that the passive interface assembly is within a capture envelope of the active interface assembly, when the single rotary drive mechanism is actuated to translate the moveable inner housing in the first direction in a continuous motion toward the passive interface assembly, the at least three radial latches extend about the passive surface coupling interface flange such that the radial latches sequentially achieve capture, alignment, seating and self-locking mounted securement of the passive surface coupling interface flange relative to the active surface coupling interface flange, and when the single rotary drive mechanism is actuated to translate the moveable inner housing in the second direction away from the passive interface assembly, the at least three radial latches retract from the passive surface coupling interface flange such that the passive surface coupling interface flange is not secured to the active surface coupling interface flange.

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