A capture system especially adapted for capturing a space object for recovery or deorbit purposes.

Abstract

A capture system (100) adapted for capturing a target spatial object (SO) is described, comprising a plurality of articulated arms (100A-D) configured to be deployable from a stowed configuration to a deployed configuration for effecting capture of the target spatial object (SO). Each articulated arm (100A-D) comprises a plurality of articulated arm segments (101, 102, 103) including at least a first articulated arm segment (101) coupled at a proximal end (101 a) via a first pivot joint (101J) to a spacecraft (1000) or a platform deployable from the spacecraft (1000), and a second articulated arm segment (102) coupled at a proximal end (102 a) to a distal end (101 b) of the first articulated arm segment (101) via a second pivot joint (102J). According to one aspect of the present invention, the plurality of articulated arm segments (101, 102, 103) are telescopingly positionable within one another in a stowed configuration such that the first and second articulated arm segments (101, 102) are intertwined.

Description

[Technical Field]

[0001] The present invention relates generally to a capture system adapted to capture space objects, in particular space objects such as satellites orbiting the Earth, spacecraft, projectile parts or space debris, which capture system is intended to be used in particular for the recovery and deorbiting of such space objects. [Background technology]

[0002] Orbital debris has become an increasing problem for satellite launches and space missions, and over the past few decades, much attention has been paid to debris avoidance prediction and debris monitoring, with nearly all major space agencies advocating the need for active debris removal (ADR).

[0003] In 2011, approximately 14,000 pieces of debris larger than 10 cm were identified in low Earth orbit (LEO), of which approximately 2,000 were rocket debris and approximately 10,000 were from non-operational satellites. A particularly notable recent incident occurred on February 10, 2009, when two communications satellites, Iridium 33 and Cosmos 2251, launched in 1997 and 1993, collided. While Iridium 33 was still operational at the time of the collision, Cosmos 2251 had reportedly ceased operations in 1995, two years after its launch. This was the first reported hypervelocity collision between two satellites. The collision destroyed both satellites and generated a significant amount of debris in orbit. In 2011, NASA estimated that this satellite collision alone produced more than 2,000 pieces of debris larger than 10 cm, as well as many smaller pieces (see, e.g., Orbital Debris, Quarterly News, Vol. 15, No. 3, July 2011).

[0004] In recent years, several efforts have been launched to explore possible solutions for active debris removal (ADR). One of the most recent efforts is the European Space Agency's (ESA) announcement in December 2019 of its first space mission (codenamed "ClearSpace-1") to remove ESA-owned debris from orbit, with the goal of launching it in 2025. As a demonstration for this first space mission, ClearSpace chose to capture the upper section of the so-called "Vespa" (Vega Secondary Payload Adapter), which was used to carry multiple payloads into Earth orbit on the second flight of ESA's Vega rocket on May 7, 2013.

[0005] Various types of capture solutions and concepts have been considered in the art, among them capture systems that rely on the use of two or more articulated arms configured to grip or grasp a target space object.

[0006] PCT International Publication No. WO 2014 / 195468 A1 discloses a type of capture system that includes multiple (e.g., four) articulated arms, each mechanically coupled to a common pressure element configured to make direct mechanical contact with a space object to be captured. Upon making direct mechanical contact with the space object, the pressure element closes the articulated arms onto the space object. This capture system is intended for use, for example, in capturing a standard rocket upper stage (such as the upper stage of an Ariane 4 rocket) or a satellite or portion thereof. While this capture concept is reasonably simple, it is not entirely suitable, particularly in that the overall mechanical configuration of the capture system limits the ability to compactly deploy the articulated arms on the associated servicing spacecraft in which the capture system is to be incorporated. This solution is particularly disadvantageous in that the mechanical arms cannot be compactly stowed during launch of the associated servicing spacecraft. Furthermore, the mechanical configuration of the capture system requires all of the articulated arms to transition from an open state to a closed state simultaneously, which means that the capture system does not have the ability to actively adapt to the actual shape of the space object to be captured. Furthermore, the use of a common pressure element mechanically coupled to the articulated arms is detrimental in that this common pressure element occupies a significant portion of the front (or X+ face) of the servicing spacecraft, meaning that this portion is unavailable for the purpose of mounting the necessary sensor components to be used during rendezvous operations with and / or capture of the target space object.

[0007] (PCT) International Publication No. WO 2016 / 030890 A1 discloses a type of capture system having a plurality (e.g., four) adjustable gripping arms, each arm having a gripping end adapted and configured to capture and grip a dedicated target portion of a satellite, i.e., an interface ring used in a satellite-to-launch interface. Each gripping arm comprises a linkage including an operating rod having a gripping end at a distal end, the operating rod pivotally connected at two locations along its length to first ends of two cranks. Second ends of the two cranks are pivotally connected to sides of a servicing spacecraft, such that each gripping arm can be moved between a stowed configuration along the associated side of the servicing spacecraft and a deployed configuration in which the crank pivots away from the associated side of the servicing spacecraft, moving the associated operating rod forward and away from the servicing spacecraft. It is understood that adjustable gripping arms are designed or configured to grip a target satellite not by positioning the gripping arm around the target satellite, but by grasping and engaging a dedicated target portion of the satellite (i.e., the interface ring described above) with the gripping end of the gripping arm. In fact, it should be noted that these gripping arms are only designed to grip the relevant portion of the interface ring with their gripping end, and are not capable of or designed to be positioned around the target satellite. This also means that a rendezvous maneuver must be performed in which the servicing spacecraft carrying the capture system is precisely positioned relative to the target satellite and the gripping end is precisely moved into the target's interface ring to properly dock with the target satellite.

[0008] Chinese Patent Publication CN106882402A discloses a capture system having a plurality of (e.g., four) articulated fingers connected by rotary joints, each of which includes a torsion spring. Each of the articulated fingers is actuated by a common rope or cable guided along the rotary joint and around a guide wheel provided along the length of the articulated finger, thereby enabling the articulated finger to open and close around the space object to be captured. The articulated fingers are arranged and distributed around a rotatable housing configured to rotate around a fixed housing. The articulated fingers can be arranged on the front and sides of the rotatable housing with the fingers folded together for a compact storage configuration.

[0009] Chinese Utility Model CN205854540U discloses a type of capture system comprising a plurality of (e.g., four) articulated arms and a central protruding platform located on the front (or X+ face) of a servicing spacecraft and facing the target space object to be captured. Each articulated arm comprises two arm segments driven by joint motors. The surface of the central protruding platform facing the target space object and the inner surface of the arm segments are provided with a buffer layer and force sensors, respectively, designed to detect contact with the target space object and control the servicing spacecraft accordingly when the articulated arms close on the target space object.

[0010] Improved solutions are still needed in this area. Summary of the Invention

[0011] A general object of the present invention is to remedy the above-mentioned drawbacks of the prior art.

[0012] More precisely, it is an object of the present invention to provide a capture system that occupies a relatively small volume in its stored configuration and that is lightweight yet robust in construction.

[0013] It is a further object of the present invention to provide a capture system that is robust, reliable in operation, and of reasonably simple and cost-effective construction.

[0014] It is yet another object of the present invention to provide a capture system that is ideal for capturing space objects, particularly for recovery and deorbit purposes.

[0015] It is also an object of the present invention to provide a capture system that can be suitably attached to a spacecraft to perform recovery and deorbit missions.

[0016] It is yet another object of the present invention to provide a capture system that can adequately attenuate and absorb shocks that occur when capturing a space object.

[0017] These objects are achieved by the solutions defined in the claims.

[0018] Thus, according to a first aspect of the present invention, there is provided a capture system having the features as set forth in claim 1, i.e. a capture system adapted for capturing a target space object, comprising a plurality of articulated arms configured to be deployable from a stowed configuration to a deployed configuration for effecting capture of a target space object, each articulated arm comprising at least a first articulated arm segment coupled at its proximal end via a first pivot joint to a spacecraft or to a platform deployable from the spacecraft, and a second articulated arm segment coupled at its proximal end to a distal end of the first articulated arm segment via a second pivot joint. According to this first aspect of the present invention, the plurality of articulated arm segments are telescopically arrangeable within one another in the stowed configuration such that the first and second articulated arm segments are intertwined.

[0019] Preferably, the second articulated arm segment is received in the receiving space of the first articulated arm segment in the storage configuration. In this context, the first articulated arm segment may in particular comprise a longitudinal frame element having a U-shaped cross-section, the first longitudinal frame element being configured and dimensioned to receive the second articulated arm segment in the storage configuration. In this latter context, the longitudinal frame element may in particular be manufactured from a planar sheet or plate of material shaped by bending or forming to present a U-shaped cross-section. More preferably, each of the articulated arm segments may comprise a longitudinal frame element having a U-shaped cross-section, each longitudinal frame element being advantageously manufactured from a planar sheet or plate of material shaped by bending or forming to present a U-shaped cross-section. In other embodiments, the longitudinal frame elements may be manufactured, for example, by machining from a blank of material, by injection molding, by sintering, or by 3D printing techniques or similar additive printing processes.

[0020] According to a particularly preferred embodiment, each of the first pivot joints is positioned at or near the front of the spacecraft facing the target space object, and in a stowed configuration, the articulated arm segments are stowed rearward from the front of the spacecraft, and the articulated arm is deployed forward from the front of the spacecraft to perform capture of the target space object.

[0021] The latter preferred feature essentially forms a further aspect of the present invention and can be applied independently of the first aspect of the present invention described above. According to a second aspect of the present invention, there is provided a capture system having the features set forth in independent claim 8, i.e., a capture system adapted for capturing a target space object, comprising a plurality of articulated arms configured to be deployable from a stowed configuration to a deployed configuration for capturing the target space object, each articulated arm comprising at least a first articulated arm segment connected at its proximal end to a spacecraft via a first pivot joint and a second articulated arm segment connected at its proximal end to a distal end of the first articulated arm segment via a second pivot joint. According to this second aspect of the present invention, each of the first pivot joints is located at or near the front of the spacecraft, facing the object to be captured. Furthermore, in the stowed configuration, the articulated arm segments are stowed rearward from the front of the spacecraft, and the articulated arms are deployed forward from the front of the spacecraft to capture the target space object.

[0022] Advantageously, in the stowed configuration, each of the articulated arm segments is aligned longitudinally along a side of the spacecraft.

[0023] This latter advantageous feature likewise forms another aspect of the invention, which is applicable independently of the first and second aspects of the invention described above. According to a third aspect of the invention, there is provided a capture system having the features set forth in independent claim 10, i.e. a capture system adapted to capture a target space object, comprising a plurality of articulated arms configured to be deployable from a stowed configuration to a deployed configuration for capture of the target space object, each articulated arm comprising at least a first articulated arm segment connected at its proximal end to a spacecraft via a first pivot joint and a second articulated arm segment connected at its proximal end to a distal end of the first articulated arm segment via a second pivot joint. According to this third aspect of the invention, in the stowed configuration, each of the articulated arm segments is aligned longitudinally along a side of the spacecraft.

[0024] Further advantageously, in the stowed configuration, each of the articulated arm segments is aligned along a corresponding longitudinal edge of the spacecraft. Each longitudinal edge may be configured as a recess specifically dimensioned to receive at least a portion of the articulated arm segment in the stowed configuration. In other embodiments, each of the articulated arm segments may be aligned along a corresponding longitudinal side of the spacecraft or other suitable location along a side of the spacecraft.

[0025] According to a particularly preferred embodiment, in the stowed configuration, the articulated arm segments fold onto each other into a compact folded configuration. In this latter context, each of the first and second pivot joints may in particular be configured such that the first and second articulated arm segments pivot in the same direction upon deployment from the stowed configuration to the deployed configuration. Alternatively, each of the first and second pivot joints may be configured such that the first and second articulated arm segments pivot in opposite directions upon deployment from the stowed configuration to the deployed configuration.

[0026] Preferably, at least one of the articulated arm segments is provided with a shock absorbing element configured to contact the space object to be captured.

[0027] This latter preferred feature likewise forms a further aspect of the invention, which is applicable independently of the above-mentioned first to third aspects of the invention. According to a fourth aspect of the invention, there is provided a capture system having the features as set forth in independent claim 17, i.e. a capture system adapted for capturing a target space object, comprising a plurality of articulated arms configured to be deployable from a stowed configuration to a deployed configuration for capturing the target space object, each articulated arm comprising at least a first articulated arm segment connected at its proximal end via a first pivot joint to a spacecraft or a platform deployable from the spacecraft, and a second articulated arm segment connected at its proximal end via a second pivot joint to a distal end of the first articulated arm segment. According to this fourth aspect of the invention, at least one of the articulated arm segments is provided with a shock absorbing element configured to contact the space object to be captured.

[0028] Optionally, the shock absorbing element is configured to be reversibly deformable.

[0029] The shock absorbing element may in particular comprise a deformable member fixed to and protruding from the articulated arm segment. Advantageously, the deformable member comprises a longitudinal element fixed at both longitudinal ends to the articulated arm segment. In particular, each longitudinal end of the longitudinal element may comprise a fixing tab inserted into a corresponding mounting slot in the articulated arm segment and retained in said mounting slot by a retaining element.

[0030] The deformable member may in particular be a convexly curved sheet or plate of material.

[0031] Each of said first and second articulated arm segments is advantageously provided with one of said shock absorbing elements.

[0032] The shock absorbing element may in particular be made of or contain an elastically deformable material such as a polymer or composite material, or alternatively, the shock absorbing element may be made of or contain a plastically deformable material.

[0033] According to a particularly preferred embodiment of the invention, each articulated arm further comprises a third articulated arm segment connected at its proximal end to the distal end of said second articulated arm segment via a third pivot joint.

[0034] In this latter context, with reference to the first aspect of the invention, both the second and third articulated arm segments may be telescopically intertwined with the first articulated arm segment in the stored configuration. Preferably, the third articulated arm segment is received within the receiving space of the second articulated arm segment in the stored configuration, which may result in a particularly compact arrangement of the articulated arm in the stored configuration.

[0035] With reference to the above-described embodiment, the articulated arm segments fold one-by-one into a compact, folded configuration, and in the stowed configuration, the third pivot joint is preferably configured such that the third articulated arm segment pivots in the same direction as the first and second articulated arm segments upon deployment from the stowed configuration to the deployed configuration. The kinematics of articulated arm actuation associated with this particular configuration result in a particularly compact articulated arm in the folded configuration. However, in other embodiments, the third pivot joint may be configured such that the third articulated arm segment pivots in the same direction as the first articulated arm segment and in a direction opposite to the direction of rotation of the second articulated arm segment.

[0036] With regard to the provision of the aforementioned shock absorbing elements, it is advantageous if each of the second and third articulated arm segments (and preferably the first articulated arm segment) is provided with one of said shock absorbing elements.

[0037] Preferably, the third pivot joint is configured to have a pivotal motion amplitude of greater than 180°. The second pivot joint may be configured to have a pivotal motion amplitude of greater than 180° or conversely less than 180° depending on the kinematics of actuation of the associated articulated arm. In contrast, the first pivot joint is preferably configured to have a pivotal motion amplitude of less than 180°.

[0038] Advantageously, each of the articulated arm segments includes an openwork structure.

[0039] Preferably, each of the articulated arm segments is made of a lightweight material such as aluminium or an alloy or composite thereof. Each of the articulated arm segments may in particular be made from a composite of sandwich material.

[0040] According to a particularly preferred embodiment, each pivot joint is equipped with an actuator that allows independent actuation of each articulated arm segment, thereby ensuring great flexibility and adjustability of the capture system to the actual overall shape of the space object to be captured, and further providing a greater ability to accommodate a variety of relative attitudes between the capture system and the space object to be captured.

[0041] Preferably, each of the articulated arms is provided with one or more sensors selected from the group consisting of a proximity sensor, a contact sensor, a current sensor and a force sensor.

[0042] Also claimed are spacecraft equipped with the capture system of the invention and their use for the recovery and deorbiting of space objects.

[0043] The capture system may in particular be coupled to a body of a spacecraft, in this context the spacecraft in particular comprising a body having a plurality of substantially parallel longitudinal edges extending along the same direction, each articulated arm being arranged along a corresponding one of the longitudinal edges.

[0044] Alternatively, the capture system may be coupled to a platform deployable from a spacecraft, such as a separately deployable spacecraft or unit. For example, the capture system of the present invention may be provided at the end of a robotic arm or may be part of an autonomous or remotely controlled vehicle deployed from a servicing spacecraft.

[0045] The spacecraft may further include a sensor system designed to assist in tracking and / or rendezvous operations of a target space object to be captured, said sensor system being particularly positioned along the centerline of said capture system.

[0046] Furthermore, there is provided a method for capturing a space object using the capture system of the present invention, comprising: - moving the articulated arms of the capture system from a stowed configuration to an open, deployed configuration; - positioning the capture system relative to the space object to be captured so that the space object is within the operating range of the capture system; - closing an articulated arm of the capture system around at least a portion of the space object; - locking the articulated arms of the capture system on the space object to prevent relative movement between the capture system and the space object.

[0047] Further advantageous embodiments of the invention form the subject matter of the dependent claims and are described hereinafter. [Brief explanation of the drawings]

[0048] Other characteristics and advantages of the present invention will become more apparent on reading the following detailed description of embodiments of the invention given by way of non-limiting example only and illustrated by the accompanying drawings, in which: [Figure 1] Figure 1A is a schematic perspective view of a spacecraft including a capture system according to an embodiment of the present invention, the capture system shown in a stowed configuration. Figure 1B is a schematic perspective view of the spacecraft of Figure 1A, the capture system shown in a deployed configuration, ready to capture a target space object. [Figure 2] Figure 2 is a photograph of the "Vespa" (Vega Secondary Payload Adapter) used to carry multiple payloads into Earth orbit as part of the second flight of ESA's Vega rocket on May 7, 2013. [Figure 3] 3A is an exemplary image rendering of a spacecraft including a capture system according to an embodiment of the present invention, showing the spacecraft with the capture system deployed and performing a rendezvous operation with a target space object to be captured. FIG. 3B is an exemplary image rendering of the spacecraft of FIG. 3A in the process of capturing the target space object, showing the spacecraft with the capture system partially closed on the target space object. [Figure 4] Figure 4A is a schematic perspective view of a spacecraft including a capture system in accordance with a preferred embodiment of the present invention, the capture system shown in a stowed configuration. Figure 4B is a front view of the spacecraft and capture system of Figure 4A. Figure 4C is a side view of the spacecraft and capture system of Figure 4A. Figure 4D is a partial cross-sectional view of a first portion of one of the articulated arms of the capture system of Figures 4A-C, showing the first and third articulation joints of the articulated arm. Figure 4E is a partial cross-sectional view of the remainder of the articulated arm of Figure 4D, showing the second articulation joint of the articulated arm. [Figure 5]Figure 5A is a perspective view of the top of a first articulated arm segment of each articulated arm of the capture system of Figures 4A-E, the first articulated arm segment including a U-shaped longitudinal frame element and a shock-absorbing element secured thereto. Figure 5B is a perspective view of the bottom of the first articulated arm segment of Figure 5A. Figure 5C is a front view of the first articulated arm segment of Figures 5A-B. Figure 5D is a bottom view of the first articulated arm segment of Figures 5A-B. [Figure 6] FIG. 6 is a perspective view of a planar sheet or plate of material prior to folding to form the U-shaped longitudinal frame element of FIGS. 5A-D. [Figure 7] Figure 7A is a perspective view of the upper part of a second articulated arm segment of each articulated arm of the capture system of Figures 4A-E, the second articulated arm segment including a U-shaped longitudinal frame element and a shock absorbing element secured thereto. Figure 7B is a perspective view of the lower part of the second articulated arm segment of Figure 7A. [Figure 8] Figure 8A is a perspective view of the upper part of a third articulated arm segment of each articulated arm of the capture system of Figures 4A-E, the third articulated arm segment including a U-shaped longitudinal frame element and a shock absorbing element secured thereto. Figure 8B is a perspective view of the lower part of the third articulated arm segment of Figure 8A. [Figure 9] FIG. 9 is a schematic side view of one articulated arm of the capture system of FIGS. 4A-E shown in a partially deployed state. DETAILED DESCRIPTION OF THE INVENTION

[0049] The present invention will be described in conjunction with various exemplary embodiments, and it is to be understood that the scope of the present invention encompasses all combinations and subcombinations of features of the embodiments disclosed herein.

[0050] As described herein, when two or more parts or components are described as being connected, attached, fixed, or coupled to one another, they may be so connected, attached, fixed, or coupled to one another directly or through one or more intermediate parts.

[0051] Embodiments of the present invention will now be described in the specific context of the capture of a portion of the "Vespa" (Vega Secondary Payload Adapter) used to carry multiple payloads in Earth orbit, particularly during Vega's second flight, VV02, on May 7, 2013, namely, the payload adapter's upper cone (which included ESA's Proba-V satellite). FIG. 2 is a photograph of the Vespa adapter with the Proba-V payload mounted prior to attachment to the Vega VV02 fairing. The Proba-V payload is photographed seated atop the Vespa adapter's upper cone (referenced SO). The Vespa adapter's upper cone SO was left in orbit around Earth at an altitude of approximately 800 km by 660 km after the VV02 mission. This upper cone SO, also depicted in FIGS. 3A and 3B, has a mass on the order of 100 kg and an outer diameter on the order of 940 mm. The capture system described below with reference to Figures 1(A-B) and 3(A-B)-9 has been designed with the above characteristics in mind. However, it should be understood that the capture system of the present invention can be used to capture other types of space objects and is in no way limited to capturing only the above-mentioned conical top portion of the Vespa adapter.

[0052] 1A and 1B are schematic diagrams of a spacecraft (also called a "chaser") 1000 including a capture system generally designated 100, according to an embodiment of the present invention. 1A and 1B essentially illustrate the basic principles of the capture system 100 of the present invention, with 1A showing the capture system 100 in a stowed configuration (such as may be employed upon launch of the spacecraft 1000), and 1B showing the capture system 100 in an open, deployed configuration (such as may be employed prior to approaching a space object and performing a capture attempt, as shown in FIG. 3A).

[0053] In the illustrated embodiment, the capture system 100 comprises four articulated arms 100A, 100B, 100C, and 100D connected to the spacecraft 1000. In other embodiments, the capture system may be connected to a dedicated platform deployable from the spacecraft 1000. However, any number of articulated arms, i.e., two or more, can be envisioned depending on the mission requirements and the type of space object to be captured. In some cases, two articulated arms may be sufficient for capturing a space object. Considering the above-mentioned envisioned applications, the use of four articulated arms is preferred in that the space object SO to be captured exhibits cylindrical symmetry, i.e., consists of a substantially conical body of revolution about its main longitudinal axis (see Figures 2, 3A, and 3B).

[0054] Here, spacecraft 1000 advantageously comprises a body substantially in the shape of a parallelepiped, with each articulated arm 100A, 100B, 100C, 100D disposed along a corresponding longitudinal edge 1000A, 1000B, 1000C, 1000D of spacecraft 1000. More specifically, each articulated arm 100A, 100B, 100C, 100D comprises a plurality of articulated arm segments 101, 102, 103, including at least a first articulated arm segment 101 (or "proximal arm segment") and a second articulated arm segment 102 (or "intermediate arm segment"). In the illustrated embodiment, each articulated arm 100A, 100B, 100C, 100D advantageously further comprises a third articulated arm segment (or "distal arm segment").

[0055] More specifically, a first articulated arm segment 101 is coupled at its proximal end to the spacecraft 1000 via a first pivot joint 101J, and a second articulated arm segment 102 is coupled at its proximal end to a distal end of the first articulated arm segment 101 via a second pivot joint 102J. Similarly, a third articulated arm segment 103 is coupled at its proximal end to a distal end of the second articulated arm segment 102 via a third pivot joint 103J.

[0056] In the illustrated embodiment, the front face X+ of the spacecraft 1000 is essentially used as a platform for the deployment of the articulated arms 100A-D, and each of the first pivot joints 101J is located on the front face X+. The first pivot joints 101J are located on or near the front face X+ along the longitudinal edges 1000A-D, thereby allowing substantially the entire longitudinal length of the spacecraft body to be utilized for stowing the articulated arms 100A-D (as described below). However, if desired, the first pivot joints 101J could be located some distance away from the front face X+ of the spacecraft 100. However, locating the first pivot joints 101J on or near the front face X+ of the spacecraft 1000 remains the preferred solution.

[0057] 1A-B, the articulated arm segments 101-103 are here folded backward from the front face X+ in the stowed configuration (FIG. 1A), while the articulated arms 100A-D are deployed forward from the front face X+ (FIG. 1B) of the spacecraft 1000 for performing a capture operation (see also FIGS. 3A-B). More specifically, in the stowed configuration, each articulated arm 100A, 100B, 100C, 100D is advantageously stowed such that the articulated arm segments 101-103 overlap one another in a very compact folded configuration. In the illustrated embodiment, this folded configuration is such that the first articulated arm segment 101 is positioned in an outermost position relative to the second articulated arm segment 102 and the third articulated arm segment 103, with the second and third articulated arm segments interdigitated between the first articulated arm segment 101 and the respective longitudinal edges 1000A, 1000B, 1000C, 1000D of the associated spacecraft 1000.

[0058] High compactness in the stored configuration may be achieved, particularly in the illustrated embodiment, by designing the first articulated arm segment 101 to exhibit a storage space configured and dimensioned to receive both the second and third articulated arm segments 102 and 103.

[0059] According to a particularly preferred embodiment of the invention, each pivot joint 101J, 102J, 103J is provided with an actuator 101M, 102M, 103M (such as a suitable motor) respectively for each articulated arm segment 101, 102, 103, respectively, providing great flexibility and versatility in terms of articulated arm actuation and achievable arm shapes. However, actuation of the articulated arms 100A-D may be achieved by different means, such as using a common drive which actuates the associated arm segments 101-103 via a cable.

[0060] Although not specifically shown, each of the articulated arms 100A-D may be provided with one or more sensors selected from the group consisting of proximity sensors, contact sensors, current sensors, and force sensors. In particular, a force sensor may be incorporated into each pivot joint to measure, for example, the torque generated at each pivot joint. Similarly, a current sensor may be incorporated into each actuator to measure the actual power consumption at each pivot joint. Contact and / or proximity sensors may be incorporated into each articulated arm segment 101, 102, 103 to detect contact or proximity with a space object SO to be captured.

[0061] It is further noted that in the illustrated embodiment, the four articulated arms 100A-D are advantageously uniformly distributed about a centerline, designated CL, which coincides with the primary longitudinal axis of the spacecraft 1000. Although not specifically shown in Figures 1A-B, it will be appreciated that the front X+ of the spacecraft 1000 in particular provides space for the provision of a suitable sensor system designed, for example, to assist in tracking of a target space object and / or rendezvous operations (e.g., such a sensor system is designated by reference numeral 500 in Figures 4A-C).

[0062] 3A and 3B are exemplary pictorial renderings of a spacecraft 1000 including a capture system 100 according to the principles described with reference to FIGS. 1A-B, shown in a deployed state in FIG. 3A, performing a rendezvous maneuver with a target space object SO to be captured. FIG. 3B shows capture system 100 in a partially closed deployed configuration, with articulated arms 100A-D in the process of closing around the target space object SO to cradle or encase it. FIGs. 3A-B illustrate the relatively large range of motion covered by capture system 100 in the deployed configuration.

[0063] Although not specifically shown, it will be understood that the articulated arms 100A-D close onto the target space object SO to form a tight and robust connection between the capture system 100 and the space object SO, thereby preventing relative movement between the capture system 100 and the space object SO. In fact, once the capture operation is complete, the articulated arms 100A-D are preferably locked onto the space object SO, preventing the space object SO from becoming dislodged or released from the capture system 100.

[0064] 4A-E are schematic diagrams of a spacecraft 1000 including a capture system 100 according to a preferred embodiment of the present invention, with the capture system 100 shown in a stowed configuration. The capture system 100 shown in FIGS. 4A-E similarly follows the same principles as generally shown in FIGS. 1A-B, and like reference numerals are used to indicate like features and components of the spacecraft 1000 and capture system 100 described above.

[0065] Each articulated arm 100A, 100B, 100C, 100D is shown in a stowed configuration, positioned along a corresponding longitudinal edge 1000A, 1000B, 1000C, 1000D of spacecraft 1000, with articulated arm segments 101-103 folded in an intertwined manner rearward from the forward face X+ of spacecraft 1000. Each of first pivot joints 101J is similarly positioned on the forward face X+ of spacecraft 1000. As will become more clear from the following description of Figures 4D and 4E, each of articulated arm segments 101-103 is aligned along a side of the spacecraft, i.e., along each of the aforementioned longitudinal edges 1000A-D, in the stowed configuration.

[0066] 4A-D, each longitudinal edge 1000A-D is advantageously configured as a recess dimensioned to receive at least a portion of an articulated arm segment 101-103 in the stowed configuration, thereby freeing up lateral sides of the spacecraft 1000 that can be optimally utilized for the purpose of locating suitable solar panels and / or individual attitude thrusters used to control the attitude of the spacecraft, and ideally allowing the articulated arms 100A-D to be positioned around the spacecraft 1000 so as not to interfere with the operation of said solar panels and / or attitude thrusters.

[0067] 4A and 4B also show the aforementioned sensor system 500 designed to assist in tracking and / or rendezvous operations of a target space object to be captured, the sensor system 500 being ideally positioned at the front X+ of the spacecraft 1000 along the centerline CL of the capture system 100.

[0068] Figures 4D and 4E are cross-sectional views of the front and rear of articulated arms 100A-D in a stowed configuration, showing articulated arm segments 101-103 overlapping one another in a compact folded configuration. Visible in Figure 4D are first and third pivot joints 101J, 103J (and associated actuators 101M, 103M) located at the proximal ends of the first and third articulated arm segments 101, 103, respectively. Similarly visible in Figure 4E is a second pivot joint 102J (and associated actuator 102M) located at the proximal end of the second articulated arm segment 102.

[0069] 4D and 4E further illustrate that in the stowed configuration, both the second and third articulated arm segments 102, 103 are at least partially received within the receiving space 101A of the first articulated arm segment 101, thereby providing for the intertwining of the articulated arm segments 101-103 in the stowed configuration. In that regard, at least the first articulated arm segment 101 includes a longitudinal frame element 111 having a U-shaped cross-section (shown separately in FIGS. 5A-D), which first longitudinal frame element 111 is configured and dimensioned to receive the second and third articulated arm segments 102, 103 in the stowed configuration. In the illustrated embodiment, the second and third articulated arm segments 102, 103 similarly include longitudinal frame elements 112, 113, respectively, which have a U-shaped cross-section (shown separately in FIGS. 7A-B and 8A-B), with the second longitudinal frame element 112 similarly configured and dimensioned to receive the third articulated arm segment 103 in the stowed configuration. Other cross-sectional shapes and geometries are contemplated while still achieving intertwining of the articulated arm segments 101-103 in the stowed configuration.

[0070] Further advantageous features of capture system 100 of Figures 4A-E will now be described in more detail with reference to Figures 5A-D through 8A-B.

[0071] 5A-5D show various views of the first articulated arm segment 101 shown in FIGS. 4A-5E, including the longitudinal frame element 111 described above. Reference numerals 101a and 101b in FIGS. 5A-5C denote the proximal and distal ends, respectively, of the first articulated arm segment 101, which ends 101a and 101b respectively coincide with the associated pivot axes of the first and second pivot joints 101J and 102J. As described above, the longitudinal frame element 111 exhibits a U-shaped cross-section that defines a receiving space 101A suitably configured and dimensioned to receive the second articulated arm segment 102 in a stowed configuration.

[0072] 7A-B show two perspective views of the second articulated arm segment 102, as shown in, for example, FIGS. 4D-E, including the aforementioned longitudinal frame element 112. Reference numerals 102a and 102b in FIGS. 7A-B designate the proximal and distal ends, respectively, of the second articulated arm segment 102, which ends 102a and 102b respectively coincide with the associated pivot axes of the second and third pivot joints 102J and 103J. As noted above, the longitudinal frame element 112 exhibits a U-shaped cross-section that defines a receiving space 102A suitably configured and dimensioned to receive the third articulated arm segment 103 in a stowed configuration.

[0073] Figures 8A-B show two perspective views of the third articulated arm segment 103, for example as shown in Figures 4D-E, which includes the aforementioned longitudinal frame element 113. Reference numeral 103a in Figures 8A-B designates the proximal end of the third articulated arm segment 103, which coincides with the pivot axis of the third pivot joint 103J. The longitudinal frame element 113 similarly exhibits a U-shaped cross section that forms the receiving space 103A.

[0074] The longitudinal frame elements 111, 112, 113 exhibit substantially the same overall configuration and are preferably manufactured from planar sheets or plates of material shaped to exhibit a U-shaped cross-section. Forming into the U-shaped configuration can conveniently be achieved by folding or molding. In the illustrated embodiment, each longitudinal frame element 111, 112, 113 is preferably formed by folding from a planar stamped plate of material (e.g., an aluminum plate), as described below with reference to FIG. 6 for longitudinal frame element 111. It will be understood that the longitudinal frame elements 112, 113 are manufactured in a similar manner.

[0075] In other embodiments, the longitudinal frame elements 111, 112, 113 can be manufactured by other means, for example by machining a material blank, sintering, injection molding, or by 3D printing techniques or similar additive printing processes.

[0076] 6 is a perspective view of a planar sheet or plate of material, designated 111*, prior to being formed into a U-shaped longitudinal frame element 111. The planar sheet or plate 111* may be suitably manufactured by stamping and then subjecting the planar sheet or plate 111* to a folding operation to form the planar sheet or plate 111* into the desired longitudinal frame element 111. This provides a lightweight and robust structure as well as cost-effective manufacturing.

[0077] Preferably, each of the articulated arm segments 101, 102, 103, and more precisely each of the longitudinal frame elements 111, 112, 113, is made of a lightweight material such as aluminum, or an alloy or composite thereof. In particular, the use of composites of sandwich material may be envisaged.

[0078] As further shown in Figures 5A-D through 8A-B, the lightweight construction can be further improved by structuring the frame elements 111, 112, 113 to exhibit openwork construction, i.e., constructions with openings and / or through-holes designed to reduce weight without compromising structural integrity or robustness. This can be conveniently achieved by punching (stamping) a series of holes or openings into the relevant sheet or plate of material prior to folding. Stamping can also be performed to form additional structural features, such as mounting slots or retention elements, as described further below.

[0079] According to a particularly preferred embodiment of the invention, at least one (and preferably several or all) of the articulated arm segments is further provided with a shock absorbing element configured to contact the space object to be captured. In the embodiment shown in Figures 4A-E to 8A-B, each of the articulated arm segments 101, 102, 103 is in fact provided with a shock absorbing element, as shown at 201, 202, 203 respectively.

[0080] In the illustrated embodiment, each shock absorbing element is particularly configured to be reversibly deformable. Advantageously, each shock absorbing element comprises a deformable member 201, 202, 203 fixed to and projecting from the associated articulated arm segment 101, 102, 103. In the illustrated embodiment, each deformable member 201, 202, 203 comprises a longitudinal element preferably fixed at its opposite longitudinal end to the articulated arm segment 101, 102, 103 and thus to the associated longitudinal frame element 111, 112, 113. In the illustrated embodiment, the deformable members 201, 202, 203 take the form of a convexly curved sheet or plate material, although other embodiments ensuring the shock absorbing function are conceivable.

[0081] Preferably, each of the shock absorbing elements 201, 202, 203 is made of or includes an elastically deformable material, such as a polymer or composite material (other materials are contemplated). In other embodiments, each of the shock absorbing elements 201, 202, 203 may be made of or include a plastically deformable material. As shown in Figures 5A-D, 7A-B, and 8A-B, each of the shock absorbing elements 201, 202, 203 may also have an openwork structure.

[0082] 5A-D, 7A-B and 8A-B, the opposing longitudinal ends of longitudinal elements 201, 202, 203 respectively include locking tabs 201A, 202A, 203A which are inserted through corresponding mounting slots provided in articulated arm segments 101, 102, 103. These locking tabs 201A, 202A, 203A are secured and retained in the associated mounting slots by a series of retaining elements 111A-B, 112A-B, 113A-B, respectively, as shown in FIGS. 5A-D, 7A-B and 8A-B, which makes the overall construction particularly simple.

[0083] 6 and the illustrative embodiment of the first articulated arm segment 101 (the principles apply equally to the second and third articulated arm segments 102, 103), it will be understood that tabs 111A*, 111B* are formed in an associated planar sheet or plate of material 111*, which tabs 111A*, 111B* will ultimately be shaped into the desired retention elements 111A, 111B, respectively. Similarly, it will be understood that openings 111C* are formed in the associated planar sheet or plate of material 111*, which openings 111C* will ultimately be shaped into the desired attachment slots sized to allow attachment of the associated locking tabs 201A of the longitudinal elements 201.

[0084] FIG. 9 is a schematic side view of any of the articulated arms 100A, 100B, 100C, 100D of the capture system 100 of FIGS. 4A-E, shown in a partially deployed state.

[0085] 9, it will be particularly appreciated that each of the first and second pivot joints 101J, 102J is configured to pivot in the same direction (i.e., clockwise in the illustrated configuration) when the first and second articulated arm segments 101, 102 are deployed from the stowed configuration to the deployed configuration. Indeed, with reference to the illustrated embodiment, the third pivot joint 103J is similarly configured to cause the third articulated arm segment 103 to pivot in the same direction as the other articulated arm segments 101, 102.

[0086] It should further be appreciated that in the illustrated embodiment, the second and third pivot joints 102J, 103J are both configured to have an amplitude of pivotal motion greater than 180°, while the first pivot joint 101J is configured to have an amplitude of pivotal motion less than 180°. However, in other embodiments, the associated amplitudes of pivotal motion of the pivot joints may be different.

[0087] This particular configuration and associated kinematics of actuation of the articulated arms 100A-D ensures a particularly compact arrangement of the articulated arms 100A-D in the folded configuration, as shown in Figures 4A-E, without compromising in any way the maneuverability of the capture system 100.

[0088] However, other configurations and kinematics of actuation of the articulated arm are contemplated within the scope of the present invention. In particular, all pivot joints do not necessarily need to be configured so that the associated articulated arm segments rotate in the same direction upon deployment from the stowed configuration. For example, the articulated arm may be configured so that in the stowed configuration, the first (proximal) arm segment is in its innermost position (which requires a corresponding adaptation of the structure of the first arm segment), and the second and, for example, third arm segments are folded in a Z-fold pattern onto the outer portions of the first arm segment. In that case, the second pivot joint is configured so that the second articulated arm segment rotates in a direction opposite to the direction of rotation of the first and third articulated arm segments upon deployment from the stowed configuration. In this latter case, in contrast to the illustrated embodiment, the second pivot joint is preferably configured to have an amplitude of pivotal movement of less than 180°.

[0089] From the above description, it will be understood that various aspects of the present invention are contemplated and that these aspects can be applied independently of one another or, preferably, in combination. All aspects relate to a capture system adapted to capture a target space object, the capture system comprising a plurality of articulated arms configured to be deployable from a stowed configuration to a deployed configuration for effecting capture of the target space object. According to the present invention, each articulated arm comprises a plurality of articulated arm segments including at least a first articulated arm segment coupled at a proximal end to a spacecraft (or, as the case may be, a platform deployable from the spacecraft) via a first pivot joint, and a second articulated arm segment coupled at a proximal end to a distal end of the first articulated arm segment via a second pivot joint.

[0090] According to a first aspect of the present invention, the capture system is such that in a stowed configuration the plurality of articulated arm segments are telescopically arrangable within one another such that the first and second articulated arm segments are intertwined.

[0091] According to a second aspect of the invention, the capture system has first pivotal joints each located on or near the front of the spacecraft facing the object to be captured, and in a stowed configuration the articulated arm segments are stowed rearward from the front of the spacecraft, and the articulated arms are deployed forward from the front of the spacecraft to perform capture of the space object.

[0092] According to a third aspect of the invention, the capture system is adapted such that in the stowed configuration, each of the articulated arm segments is aligned longitudinally along a lateral side of the spacecraft.

[0093] According to a fourth aspect of the invention, the capture system is provided with a shock absorbing element on at least one (preferably a plurality) of the articulated arms, the shock absorbing element being configured to come into contact with the space object to be captured.

[0094] Various modifications and / or improvements can be made to the above-described embodiments without departing from the scope of the present invention, as defined by the appended claims. For example, it should be understood that the capture system of the present invention can include any number of articulated arms, and the present invention is not specifically limited to the use of four articulated arms. A minimum of two articulated arms is contemplated, and in practice, three to five articulated arms are preferred.

[0095] Similarly, although the illustrated embodiment shows articulated arms each including three articulated arm segments, each articulated arm may include any suitable number of articulated arm segments, including a minimum of two arm segments, or more than two arm segments as needed or appropriate.

[0096] Additionally, although the embodiments disclosed herein show a capture system adapted to capture the conical top of a Vespa adapter, the capture system may be adapted to capture any other space object.

[0097] Furthermore, while the illustrated spacecraft includes a body exhibiting a substantially parallelepiped shape having four longitudinal edges, any other suitable shape is contemplated. In particular, according to embodiments of the present invention, a spacecraft can include a body having a plurality of substantially parallel longitudinal edges extending along the same direction, with each articulated arm positioned along a corresponding one of the longitudinal edges. Any number of longitudinal edges and articulated arms is contemplated, particularly in the range of 2 to 5 or more.

[0098] It should also be understood that cross-sectional shapes other than U-shaped cross-sections, including but not limited to L-shaped and T-shaped cross-sections, may be contemplated for the intertwine of the articulating arm segments, so long as the articulating arm segments exhibit complementary configurations, shapes, and dimensions. In this regard, the associated cross-sectional shapes may vary from one articulating arm segment to another. [Explanation of symbols]

[0099] 100 Capture System (Embodiment of the Invention) 100A First articulated arm of capture system 100 100B Second articulated arm of capture system 100 100C Third articulated arm of capture system 100 100D Fourth articulated arm of capture system 100 101 first articulated arm segment of each of the articulated arms 100A, 100B, 100C, 100D 101a: Proximal end of first articulated arm segment 101 (pivotally coupled to spacecraft 1000) 101b: the distal end of the first articulated arm segment 101 (pivotally connected to the proximal end 102a of the second articulated arm segment 102) 101A: Receiving space of the first articulated arm segment 101 (configured and dimensioned to receive the second and third articulated arm segments 102, 103 in the stowed configuration) 101J: a first pivot joint that provides connection of the proximal end of the first articulated arm segment 101 to the spacecraft 1000 101M: a first actuator (e.g., an electric motor) that provides actuation of the first articulated arm segment 101 at the first pivot joint 101J 102 second articulated arm segment of each of the articulated arms 100A, 100B, 100C, 100D 102a: the proximal end of the second articulated arm segment 102 (pivotally connected to the distal end 101b of the first articulated arm segment 101) 102b: the distal end of the second articulated arm segment 102 (pivotally connected to the proximal end 103a of the third articulated arm segment 103) 102A second articulated arm segment 102 storage space (configured and dimensioned to receive third articulated arm segment 103 in the storage configuration) 102J: A second pivot joint providing an articulation connection from the proximal end of the second articulated arm segment 102 to the distal end of the first articulated arm segment 101. 102M: A second actuator (e.g., an electric motor) that provides actuation of the second articulated arm segment 102 at the second pivot joint 102J. 103 third articulated arm segment of each of the articulated arms 100A, 100B, 100C, and 100D 103a: the proximal end of the third articulated arm segment 103 (pivotally connected to the distal end 102b of the second articulated arm segment 101) 103A: Storage space for third articulated arm segment 103 103J: a third pivot joint providing an articulation connection from the proximal end of the third articulated arm segment 103 to the distal end of the second articulated arm segment 102; 103M: a third actuator (e.g., an electric motor) that provides actuation of the third articulated arm segment 103 at the third pivot joint 103J 111 (first) longitudinal frame element of first articulated arm segment 101 111A retaining element for securing tab 201A 111B Retaining element for securing tab 201A 111* Planar sheet / plate of material before being formed (e.g., folded) into longitudinal frame element 111 111A* Tab of planar sheet / plate material 111* before forming (e.g., folding) into retention element 111A 111B* Tab of planar sheet / plate material 111* before forming (e.g., folding) into retention element 111B 111C* Opening in planar sheet / plate material 111* before being formed (e.g., folded) into a mounting slot for securing tab 201A 112 (second) longitudinal frame element of second articulated arm segment 103 112A retaining element for securing tab 202A 112B Retaining element for securing tab 202A 113 (third) longitudinal frame element of third articulated arm segment 103 113A retaining element for securing tab 203A 113B Retaining element for securing tab 203A 201 (first) shock absorbing element provided on the first articulated arm segment 101 / (first) longitudinal element, e.g. made of concavely curved sheet / plate material and fixed to the longitudinal frame element 111 201A: Fixing tabs protruding from both longitudinal sides of longitudinal element 201 for attachment to longitudinal frame element 111 202 (second) shock absorbing element provided on the second articulated arm segment 102 / (second) longitudinal element, e.g. made of concavely curved sheet / plate material and fixed to the longitudinal frame element 112 202A - Fixing tabs protruding from both longitudinal sides of longitudinal element 202 for attachment to longitudinal frame element 112 203 (third) shock absorbing element provided on the third articulated arm segment 103 / (third) longitudinal element, e.g. made of concavely curved sheet / plate material and fixed to the longitudinal frame element 113 203A: Fixing tabs protruding from both longitudinal sides of longitudinal element 203 for attachment to longitudinal frame element 113 500 Sensor System 1000 Spacecraft (or "chaser") equipped with capture system 100 1000A: A first longitudinal edge along a lateral side of the spacecraft 1000 that provides space for placement of the first articulated arm 100A in a stowed configuration. 1000B: A second longitudinal edge along a lateral side of the spacecraft 1000 that provides space for placement of the second articulated arm 100B in a stowed configuration. 1000C: A third longitudinal edge along a lateral side of the spacecraft 1000 that provides space for placement of the third articulated arm 100C in the stowed configuration. 1000D—A fourth longitudinal edge along a lateral side of the spacecraft 1000 that provides space for placement of the fourth articulated arm 100D in the stowed configuration. SO Captured Space Object X+ the front of spacecraft 1000 facing the captured space object SO CL Capture System 100 Centerline

Claims

1. A capture system (100) adapted to capture a target space object (SO), comprising a plurality of articulated arms (100A-D) configured to be deployable from a stowed configuration to a deployed configuration to effect capture of the target space object (SO); Each articulated arm (100A-D) comprises a plurality of articulated arm segments (101, 102, 103) including at least a first articulated arm segment (101) connected at its proximal end (101a) to the spacecraft (1000) or a platform deployable from the spacecraft (1000) via a first pivot joint (101J), and a second articulated arm segment (102) connected at its proximal end (102a) to a distal end (101b) of the first articulated arm segment (101) via a second pivot joint (102J); A capture system (100) characterized in that, in a stowed configuration, the plurality of articulated arm segments (101, 102, 103) are nested within one another such that the first and second articulated arm segments (101, 102) are intertwined.

2. 2. The capture system (100) of claim 1, wherein in the storage configuration, the second articulated arm segment (102) is received within a storage space (101A) of the first articulated arm segment (101).

3. 3. The capture system (100) of claim 2, wherein the first articulated arm segment (101) comprises a longitudinal frame element (111) having a U-shaped cross-section, the first longitudinal frame element (111) configured and dimensioned to receive the second articulated arm segment (102) in the storage configuration.

4. 4. A capture system (100) according to claim 3, wherein said longitudinal frame element (111) is manufactured from a planar sheet or plate (111*) of material shaped by bending or forming to present a U-shaped cross section.

5. 4. A capture system (100) according to claim 3, wherein each of said articulated arm segments (101, 102, 103) comprises a longitudinal frame element (111, 112, 113) having a U-shaped cross section.

6. 6. A capture system (100) according to claim 5, wherein each longitudinal frame element (111, 112, 113) is manufactured from a planar sheet or plate (111*) of material that has been shaped by bending or forming to present a U-shaped cross section.

7. each of said first pivot joints (101J) is located on or near a front face (X+) of said spacecraft (1000) facing a space object (SO) to be captured; In the stowed configuration, the articulated arm segments (101, 102, 103) are stowed aft from the front (X+) of the spacecraft (1000); The capture system (100) of any one of claims 1 to 6, wherein the articulated arms (100A-D) are deployed forward of the front (X+) of the spacecraft (1000) to perform capture of a target space object (SO).

8. 8. The capture system (100) of claim 1, wherein in the stowed configuration, each of the articulated arm segments (101, 102, 103) is aligned longitudinally along a lateral side of the spacecraft (1000).

9. 9. A capture system (100) according to claim 7 or 8, wherein in the stowed configuration, each of the articulated arm segments (101, 102, 103) is aligned along a corresponding longitudinal edge (1000A-D) of the spacecraft (1000).

10. 10. The capture system (100) of claim 9, wherein each longitudinal edge (1000A-D) is configured as a recess sized to receive at least a portion of the articulated arm segment (101, 102, 103) in the stowed configuration.

11. 11. A capture system (100) according to any one of claims 7 to 10, wherein in the stored configuration, the articulated arm segments (101, 102, 103) fold onto each other into a compact folded configuration.

12. 12. The capture system (100) of claim 11, wherein each of the first and second pivot joints (101J, 102J) is configured to pivot in the same direction when the first and second articulated arm segments (101, 102) are deployed from a stowed configuration to a deployed configuration.

13. 12. The capture system (100) of claim 11, wherein each of the first and second pivot joints (101J, 102J) is configured to pivot in opposite directions when the first and second articulated arm segments (101, 102) are deployed from a stowed configuration to a deployed configuration.

14. 14. The capture system (100) according to any one of claims 1 to 13, wherein at least one of the articulated arm segments (101, 102, 103) is provided with a shock absorbing element (201, 202, 203) configured to come into contact with the space object (SO) to be captured.

15. 15. The capture system (100) of claim 14, wherein the shock absorbing element (201, 202, 203) is configured to be reversibly deformable.

16. 15. A capture system (100) according to claim 14, wherein the shock absorbing element comprises a deformable member (201, 202, 203) fixed to and projecting from the articulated arm segment (101, 102, 103).

17. 17. The capture system (100) of claim 16, wherein the deformable members (201, 202, 203) comprise longitudinal elements fixed at their opposite longitudinal ends to the articulated arm segments (101, 102, 103).

18. 18. The capture system (100) of claim 17, wherein each longitudinal end of the longitudinal element includes a locking tab (201A, 202A, 203A) that is inserted through a corresponding mounting slot provided in the articulated arm segment (101, 102, 103) and retained in the mounting slot by a retaining element (111A-B, 112A-B, 113A-B).

19. 19. A capture system (100) according to any one of claims 16 to 18, wherein the deformable members (201, 202, 203) are convexly curved sheets or plates of material.

20. 20. A capture system (100) according to any one of claims 14 to 19, wherein each of said first and second articulated arm segments (101, 102) comprises one of said shock absorbing elements (201, 202).

21. 21. A capture system (100) according to any one of claims 14 to 20, wherein the shock absorbing element (201, 202, 203) is made of or comprises an elastically deformable material, such as a polymer or composite material.

22. 21. A capture system (100) according to any one of claims 14 to 20, wherein the shock absorbing element (201, 202, 203) is made of or comprises a plastically deformable material.

23. 23. A capture system (100) according to any one of claims 1 to 22, wherein each articulated arm (100A-D) further comprises a third articulated arm segment (103) connected at its proximal end (103a) to the distal end (102b) of the second articulated arm segment (102) via a third pivot joint (103J).

24. each articulated arm (100A-D) further comprises a third articulated arm segment (103) connected at its proximal end (103a) to the distal end (102b) of said second articulated arm segment (102) via a third pivot joint (103J); 8. A capture system (100) as claimed in any one of claims 1 to 7, wherein both the second and third articulated arm segments (102, 103) are telescopically positionable to intertwine with the first articulated arm segment (101) in the storage configuration.

25. 25. The capture system (100) of claim 24, wherein the third articulated arm segment (103) is received within a receiving space (102A) of the second articulated arm segment (102) in the storage configuration.

26. each articulated arm (100A-D) further comprises a third articulated arm segment (103) connected at its proximal end (103a) to the distal end (102b) of said second articulated arm segment (102) via a third pivot joint (103J); 13. The capture system (100) of claim 12, wherein the third pivot joint (103J) is configured such that the third articulated arm segment (103) pivots in the same direction as the first and second articulated arm segments (101, 102) when deployed from the stored configuration to the deployed configuration.

27. each articulated arm (100A-D) further comprises a third articulated arm segment (103) connected at its proximal end (103a) to the distal end (102b) of said second articulated arm segment (102) via a third pivot joint (103J); 14. The capture system (100) of claim 13, wherein the third pivot joint (103J) is configured such that the third articulated arm segment (103) pivots in the same direction as the first articulated arm segment (101) when deployed from the stored configuration to the deployed configuration.

28. each articulated arm (100A-D) further comprises a third articulated arm segment (103) connected at its proximal end (103a) to the distal end (102b) of said second articulated arm segment (102) via a third pivot joint (103J); 23. A capture system (100) according to any one of claims 14 to 22, wherein each of the second and third articulated arm segments (102, 103) comprises one of the shock absorbing elements (202, 203).

29. 29. A capture system (100) according to any one of claims 23 to 28, wherein the third pivot joint (103J) is configured to have an amplitude of pivotal movement greater than 180°.

30. 30. The capture system (100) of any one of claims 1 to 29, wherein the second pivot joint (102J) is configured to have an amplitude of pivotal movement greater than 180°.

31. 30. The capture system (100) of any one of claims 1 to 29, wherein the second pivot joint (102J) is configured to have an amplitude of pivotal movement of less than 180°.

32. 32. The capture system (100) of any one of claims 1 to 31, wherein the first pivot joint (101J) is configured to have an amplitude of pivotal movement of less than 180°.

33. 33. The capture system (100) of any one of claims 1 to 32, wherein each of the articulated arm segments (101, 102, 103) has an openwork structure.

34. 34. A capture system (100) according to any one of claims 1 to 33, wherein each of the articulated arm segments (101, 102, 103) is made from a lightweight material such as aluminium, or an alloy or composite thereof.

35. 35. A capture system (100) according to any one of the preceding claims, wherein each of the articulated arm segments (101, 102, 103) is made from a composite of sandwich material.

36. 36. A capture system (100) according to any one of the preceding claims, wherein each pivot joint (101J, 102J, 103J) comprises an actuator (101M, 102M, 103M) enabling independent actuation of each articulated arm segment (101, 102, 103).

37. 37. The capture system (100) of any one of claims 1 to 36, wherein each of the articulated arms (100A-B) comprises one or more sensors selected from the group consisting of proximity sensors, contact sensors, current sensors, and force sensors.

38. A spacecraft (1000) comprising a capture system (100) according to any one of claims 1 to 37.

39. 40. The spacecraft (1000) of claim 38, wherein the capture system (100) is coupled to a body of the spacecraft (1000).

40. 40. The spacecraft (1000) of claim 39, wherein the spacecraft (1000) comprises a body having a plurality of substantially parallel longitudinal edges (1000A-D) extending along the same direction (CL), and each articulated arm (100A-D) is disposed along a corresponding one of the longitudinal edges (1000A-D).

41. 40. The spacecraft (1000) of claim 38, wherein the capture system (100) is coupled to a platform deployable from the spacecraft (1000).

42. 42. The spacecraft (1000) of any one of claims 38 to 41, further comprising a sensor system (500) designed to support tracking and / or rendezvous operations of a target space object (SO) to be captured.

43. 43. The spacecraft (1000) of claim 42, wherein the sensor system (500) is disposed along a centerline (CL) of the capture system (100).

44. Use of a capture system (100) according to any one of claims 1 to 37 or a spacecraft according to any one of claims 38 to 43 for recovering a space object (SO).

45. Use of a capture system (100) according to any one of claims 1 to 37 or a spacecraft according to any one of claims 38 to 43 for deorbiting a space object (SO).

46. A method for capturing a space object (SO) using a capture system (100) according to any one of claims 1 to 37, comprising the steps of: deploying said articulated arms (100A-D) from a stowed configuration to an open, deployed configuration; positioning the capture system (100) relative to a space object (SO) to be captured so that the space object (SO) is within the operational range of the capture system (100); closing said articulated arms (100A-D) around at least a portion of said space object (SO); and locking said articulated arms (100A-D) on the space object (SO) to prevent relative movement between said capture system (100) and the space object (SO).

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