Vehicle Capture Assembly and Related Devices, Systems, and Methods

Abstract

The vehicle capture assembly and related devices, systems, and methods include one or more probe assemblies for engaging and immobilizing a target vehicle. The one or more probe assemblies may include one or more damping features or movable joints.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of the filing date of U.S. Provisional Patent Application No. 63 / 019,891 for "VEHICLE CAPTURE ASSEMBLIES AND RELATED DEVICES, SYSTEMS, AND METHODS," filed May 4, 2020, the disclosure of which is incorporated herein by reference in its entirety.

[0002]

[0002] The present disclosure relates to systems, devices, assemblies, apparatus, and methods for vehicle (e.g., spacecraft) docking. In some embodiments, the present disclosure includes a vehicle capture assembly including damping features and / or probe movement features for engaging an associated vehicle, as well as related devices, systems, and methods. [Background technology]

[0003] Docking assemblies and devices may be utilized to mechanically connect two or more vehicles (e.g., spacecraft) to one another. Such spacecraft may be vehicles designed for short-term spaceflight (e.g., self-propelled vehicles) and / or may be configured to reside in space for extended periods of time. The spacecraft may be intended to perform a specific function in a space mission, such as providing resources to a target vehicle and / or altering the orbit of the target vehicle. In some cases, the spacecraft may be a space station, a satellite, or another suitable structure.

[0004]

[0004] The connection of two or more spacecraft may enable the transfer of resources from one spacecraft to another. For example, a spacecraft may dock with a space station to deliver crew and resources. In another example, a spacecraft may dock with a satellite to perform maintenance and repair of one or more components of the satellite. In yet a further example, a spacecraft may dock with another vehicle to provide a specific mission function, such as descent to or ascent from a celestial body, or to travel to a selected location for a mission.

[0005]

[0005] The conceptualized method for docking to a spacecraft consists of a complex mechanical apparatus. U.S. Patent Nos. 3,508,723, 4,018,409, 4,177,964, 4,219,171, 4,391,423, 4,588,150, 4,664,344, 4,898,348, 5,005,786, 5,040,749, 5,094,410, 5,299,764, 5,364,046, 5,372,340, 5,490,075, 5,511,748, 5,735,488, 5,803,40 No. 7, No. 5,806,802, No. 6,017,000, No. 6,299,107, No. 6,330,987, No. 6 ,484,973, 6,523,784, 6,742,745, 6,843,446, 6,945,50 No. 0, No. 6,969,030, No. 7,070,151, No. 7,104,505, No. 7,207,525, No. 7 ,216,833, 7,216,834, 7,240,879, 7,293,743, 7,370,83 No. 4, No. 7,438,264, No. 7,461,818, No. 7,484,690, No. 7,513,459, No. 7 ,513,460, 7,575,199, 7,588,213, 7,611,096, 7,611,09 No. 7, No. 7,624,950, No. 7,815,149, No. 7,823,837, No. 7,828,249, No. 7 ,857,261, 7,861,974, 7,861,975, 7,992,824, 8,006,93 7, 8,006,938, 8,016,242, 8,033,508, 8,056,864, 8,074,935, 8,181,911, 8,196,870, 8,205,838, 8,240,613, 8,245,370, 8,333,347, 8,412,391, 8,448,904, 8,899,527, 9,108,747, 9,302,793, 9,321,175, and 9,399,295, U.S. Patent Application Publication Nos. 2004 / 0026571, 2006 / 0145024, 2006 / 0151671, 2007 / 0228220, 2009 / 0001221, 2012 / 0112009, 2012 / 0325972, 2013 / 0103193, 2015 / 0008290, 2015 / 0314893, and 2016 / 0039543, and No. 2016 / 0039544, European Patent Nos. EP0092602A1, EP0541052, 0741655B1, 0741655B2, and 1654159, PCT Publication Nos. 2005 / 110847, 2005 / 118394, 2014 / 024,199, and 2016 / 030890, Japanese Patent Nos. JPH01282098 and JPH01226497, Automated Various patents and publications consider such methods, including Rendezvous and Docking of Spacecraft, Fehse, Wigbert, Cambridge University Press (2003); On-Orbit Servicing Missions: Challenges and Solutions for Spacecraft Operations, Sellmaier, F. et al., SpaceOps 2010 Conference, AIAA 2010-2159 (2010); and Towards a standardized grasping and refueling on-orbit servicing for geo-spacecraft, Medina, Alberto et al., Acta Astronautica vol. 134, pp. 1-10 (2017); DEOS - The In-Flight Technology Demonstration of German's Robotics Approach to Dispose Malfunctioned Satellites, Reintsema, D. et al., the disclosures of each of which are incorporated herein by this reference in their entirety. Summary of the Invention [Problem to be solved by the invention]

[0006] However, the mechanical complexities present in many of the above designs, particularly those associated with multi-axis servo motors and robotic control systems, increase the likelihood of component failure, which can result in the docking and maintenance process failing. Additionally, the relative motion that exists between the docked vehicles and that is imposed on the vehicles and docking assemblies can compromise the docking procedure and can cause damage to one or more of the vehicles and their respective docking assemblies. [Means for solving the problem]

[0007] Some embodiments of the present disclosure may include a vehicle capture assembly comprising a probe assembly including one or more retention elements for engaging and securing a target vehicle, and a probe movement feature coupled to at least a portion of the probe assembly, the probe movement feature comprising at least one movable union for attaching the vehicle capture assembly to the capture vehicle, the at least one movable union for allowing the probe assembly to move in at least one degree of freedom relative to the capture vehicle and at least one damping feature (e.g., a passively acting damping feature) for constraining movement of the probe assembly relative to the capture vehicle.

[0008] Some embodiments of the present disclosure may include a spacecraft capture system comprising two or more vehicle capture assemblies. Each vehicle capture assembly includes a probe assembly including one or more retention elements for engaging and securing a target spacecraft, an extendable lance coupled to the probe assembly at a distal portion thereof, a mount for coupling to the capture vehicle, and at least one movable joint for enabling the probe assembly and the extendable lance to move in at least one degree of freedom relative to the capture vehicle. The two or more vehicle capture assemblies may be configured to substantially simultaneously retract their respective probe assemblies to secure the target spacecraft.

[0009]

[0009] Some embodiments of the present disclosure may include a method of capturing a spacecraft, including the steps of extending a probe of a vehicle capture assembly toward a target spacecraft, the vehicle capture assembly being coupled to the capture vehicle; enabling movement (e.g., translation and / or rotation) of the vehicle capture assembly relative to the capture vehicle; suppressing movement of the vehicle capture assembly with a damping assembly; and engaging the probe of the vehicle capture assembly with the target spacecraft.

[0010] Some embodiments of the present disclosure may include one or more probe assemblies configured to be received within respective structures (e.g., one or more capture cones) on the target vehicle. Retention features on the one or more probe assemblies may allow movement of the probe assemblies to provide an approximately universal joint between the one or more probe assemblies and the target vehicle.

[0011] Some embodiments of the present disclosure may include one or more probe assemblies, each including a damping structure or damping mount, where the damping structure or damping mount may provide effective universal and prismatic joints between the capture vehicle and the probe and / or target vehicle. When implemented with the movable target spacecraft retention features described above, the overall structure may provide universal, prismatic, and near-universal joints along the path between the vehicles. For example, three probe assemblies and three capture cones may define a joint configuration (e.g., in situ) through a gap during a docking procedure that approximates a 3-UPU (universal-prismatic-universal) manipulator.

[0012]

[0012] The above summary is not intended to describe each illustrated embodiment or every implementation of the present disclosure.

[0013] The drawings included in this application are incorporated into and form a part of this specification. The drawings illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure. The drawings are merely illustrative of particular embodiments and are not intended to limit the disclosure. [Brief explanation of the drawings]

[0013] [Figure 1]

[0014] 1 is a side schematic view of a capture vehicle including a vehicle capture assembly and a target vehicle, according to one or more embodiments of the present disclosure. [Figure 2]

[0015] FIG. 1 is an isometric view of a vehicle capture assembly in an initial position in accordance with one or more embodiments of the present disclosure. [Figure 3]

[0016] FIG. 1 is an isometric view of a vehicle capture assembly including a probe movement feature, according to one or more embodiments of the present disclosure. [Figure 4]

[0017] FIG. 1 is an isometric view of a vehicle capture assembly in an extended or mid-extension position in accordance with one or more embodiments of the present disclosure. [Figure 5]

[0018] FIG. 1 is an isometric view of a docking assembly in accordance with one or more embodiments of the present disclosure. [Figure 6]

[0019] 1 is an isometric view of a vehicle capture system including multiple vehicle capture assemblies according to one or more embodiments of the present disclosure. [Figure 7]

[0020] FIG. 1 is an isometric view of a probe movement feature in accordance with one or more embodiments of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0014]

[0021] While the present disclosure is susceptible to various modifications and alternative forms, specific examples thereof have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit the disclosure to the particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the scope of the present disclosure.

[0015]

[0022] As used herein, the terms "substantially," "about," and "approximately" mean and include the extent to which one of ordinary skill in the art would understand that a given parameter, characteristic, or condition is met with slight variations, such as within acceptable manufacturing tolerances, with respect to a given parameter. For example, a parameter that is substantially, about, or approximately met may be at least about 90% met, at least about 95% met, at least about 99% met, or even 100% met.

[0016]

[0023] Embodiments of the present disclosure may include capture and coupling assemblies and systems used for mechanical docking of two or more vehicles (e.g., orbital spacecraft with or without autonomous propulsion) using one or more vehicle capture assemblies (e.g., two or more, three, four, etc.) on the capture vehicle. The vehicle capture assemblies are configured to engage with docking portions of a target vehicle to be captured (e.g., one or more docking cones coupled to the target vehicle). Some embodiments may enable autonomous capture and docking of spacecraft with relatively large mass and inertia, while causing minimal disruption to either vehicle. Some embodiments provide benefits in the form of a relatively simple docking architecture with improved reliability and safety considerations, i.e., considerations for preventing damage to the spacecraft.

[0017]

[0024] Some embodiments may reduce the likelihood of damage to vehicles and their respective components during the docking procedure. For example, a docking assembly according to embodiments of the present disclosure may achieve docking that is substantially free of relative disturbances. Specifically, the passive damping mount of the docking assembly may include one or more movable joints or unions (e.g., rotational and / or translational unions or joints) that allow the docking assembly to move relative to the capture vehicle to which it is attached. The passive damping mount may include one or more damping elements or features (e.g., struts that may be adjustable or adjustable) to help suppress movement of the docking assembly relative to the capture vehicle (e.g., including a target vehicle at least partially coupled to the docking assembly). Such a docking assembly may provide initial compliance for gentle capture and / or at least partially damp relative movement between the vehicles (e.g., before retraction of the docking assembly to a final, rigidified connection). As noted above, in some embodiments, each docking assembly (e.g., three docking assemblies) may provide a combination of universal joints, prismatic joints, and approximate universal joints (e.g., a 3-UPU (universal-prismatic-universal) manipulator) when coupled with a respective number of capture cones via a gap (e.g., in situ) during a docking procedure. In some embodiments, the 3-UPU may include a combination of universal joints, prismatic joints, and approximate universal joints, e.g., spherical joints.

[0018]

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

[0019]

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

[0020]

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

[0021]

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

[0022]

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

[0023]

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

[0024]

[0031] A mechanical force (e.g., a biasing force) may be used to release (e.g., non-destructively release) the retention elements to move them toward a stowed or detached position to release the target spacecraft 11 without the use of motors that directly drive the retention elements. Such an embodiment may reduce or even eliminate the need for electronic components (e.g., signal conductors, electrical wiring, power systems, switches, motors, heaters, thermistors, helical harnesses, etc.) within portions of the vehicle capture assembly 22 (e.g., within the lance and / or probe of the vehicle capture assembly 22).

[0025]

[0032] As discussed below, a motor (e.g., a single, isolated motor) may be used to actively move (e.g., translate) the vehicle capture assembly 22 toward and / or away from the target vehicle 11, but such a motor may only indirectly contribute to the engagement and / or disengagement of the retention elements. For example, a motor may position the retention elements at selected positions relative to the target vehicle, but a force applied to the vehicle capture assembly 22 may be utilized to engage and / or disengage the retention elements in a passive manner (e.g., a force overcoming one or more biasing elements of the vehicle capture assembly 22) without being actively driven by a motor or other electronic device.

[0026]

[0033] The target vehicle 11 may be a spacecraft to be captured by the vehicle capture assembly 22 of the capture vehicle 10. The target vehicle 11 may be in low Earth orbit, medium Earth orbit, geostationary orbit, beyond geosynchronous orbit, or another orbit around a celestial body, such as the Earth, the Moon, or another planetary body. The target vehicle 11 may include a docking element 18 and a separation ring 19.

[0027]

[0034] The vehicle capture assembly 22 of the capture vehicle 10 may be configured to capture the target vehicle 11 at the docking element 18 and to pull the target vehicle 11 and capture vehicle 10 together for docking. Upon docking, one or more portions of the target vehicle 11 and / or the vehicle capture assembly 22 may abut to hold the vehicles 10, 11 together.

[0028]

[0035] 2 shows an isometric view of vehicle capture assembly 100 in an initial position that may be used with a capture vehicle. In some embodiments, vehicle capture assembly 100 may be similar to and include similar components and features of vehicle capture assembly 22 of capture vehicle 10 shown generally in FIG. 1 and described above.

[0029]

[0036] As shown in FIG. 2, vehicle capture assembly 100 includes a probe or probe assembly 102 coupled to a lance or lance assembly 104 (e.g., at a distal portion or end of lance assembly 104). Probe assembly 102 includes one or more retention features (e.g., barbs 106) extending from probe assembly 102 at a location proximate probe tip 108. Barbs 106 may extend in a direction transverse to the length or longitudinal axis of one or more portions of vehicle capture assembly 100 (e.g., transverse to the length of lance assembly 104). As shown, rotatable barbs 106 extend laterally outward and proximally toward lance assembly 104 to capture target vehicle 11 ( FIG. 1 ).

[0030]

[0037] In some embodiments, the barbs 106 may be biased (e.g., spring loaded) to a selected position. For example, the barbs 106 may be in the deployed position shown, in which the barbs 106 can couple with a portion of the target vehicle 11 (FIG. 1). In further embodiments, the barbs 106 may be biased to a retracted or stowed position.

[0031]

[0038] 1 and 2 , the lance assembly 104 may include functionality that allows extension and / or retraction of a portion of the probe assembly 102 to facilitate docking of the capture vehicle 10 with the target vehicle 11. For example, when the capture vehicle 10 is positioned proximate to the target vehicle 11, the probe assembly 102 may be extended by the lance assembly 104 up to and inserted into a docking element 18 of the target vehicle 11. The lance assembly 104 may include a lance boom 110 driven by a motor 112 positioned within a housing 115 of the probe assembly 102. The motor 112 may be used to actively move (e.g., translate) the lance boom 110 toward and / or away from the target vehicle 11.

[0032]

[0039] In some embodiments, the motor 112 may only indirectly contribute to the engagement and / or disengagement of the barbs 106. For example, the motor 112 may position the barbs 106 at a selected position relative to the target vehicle 11, but a force applied to the barbs 106 (e.g., to overcome a biasing force of the barbs 106 toward the deployed position) may be applied when the barbs 106 are inserted into the docking element 18 to engage the barbs 106 in a passive manner without being actively driven by the motor 112. As discussed below, movement of the probe assembly 102 (e.g., by pushing the probe assembly 102 into the target vehicle 11) may be used to release the barbs 106 from the target vehicle 11 (e.g., by having internal components of the probe assembly 102 overcome the biasing force of the barbs 106 in a different manner).

[0033]

[0040] Vehicle capture assembly 100 may include another rear element (e.g., docking cone 114) for engaging another portion of target vehicle 11 (e.g., another portion of docking element 18). As shown, docking cone 114 may be biased (e.g., by spring 116) toward barbs 106 to secure the target vehicle between barbs 106 and docking cone 114.

[0034]

[0041] The vehicle capture assembly 100 may include a backstop plate 118 for mating with a portion of the target vehicle 11 (e.g., in the capture position). One or more additional retention elements (e.g., latch 120) may be coupled (e.g., rotatably coupled) to the backstop plate 118. Further embodiments may include a linkage-type latch. In the capture position, the latch 120 may be actuated to engage the docking element 18 to secure the target vehicle 11. In some embodiments, after engagement, the latch 120 may provide the majority of the rigid connection (e.g., which may be the primary connection) between the vehicles 10, 11. For example, the latch 120 may bear the majority of the forces generated between the two vehicles 10, 11, while other attachment points (e.g., the docking cone 114 and / or barbs 106) are either not used primarily or are subject to significantly (e.g., an order of magnitude or more) less force.

[0035]

[0042] 3 is an isometric view of a vehicle capture assembly, such as vehicle capture assembly 100. As shown in FIG. 3, vehicle capture assembly 100 includes a probe movement feature, such as attenuation table 122. In some embodiments, attenuation table 122 may be similar to attenuation table 24 described above.

[0036]

[0043] As shown, damping mount 122 may include first mount 124 and second mount 126. First mount 124 may be coupled (e.g., rigidly coupled in an immovable manner) to capture vehicle 10 (FIG. 1). Second mount 126 may be coupled (e.g., rigidly coupled) to vehicle capture assembly 100 (e.g., to housing 115) via one or more brackets 127.

[0037]

[0044] The second platform 126 may be movably coupled to the first platform 124 via one or more movable unions or joints to allow the second platform 126 to move relative to both the first platform 124 and the capture vehicle 10. Each of the movable unions may provide at least one degree of freedom (e.g., rotational and / or translational) of movement between the second platform 126 and the first platform 124.

[0038]

[0045] For example, the damping mount 122 may include multiple rotating members (e.g., a first gimbal ring 128 and a second gimbal ring 130) attached to a fixed portion (e.g., a fixed outer ring 132) of the first mount 124 (e.g., by pin connections 134, 136). The first gimbal ring 128, the second gimbal ring 130, and the fixed outer ring 132 may define a gimbal assembly providing two degrees of rotational mobility. For example, the first gimbal ring 128 may enable the vehicle capture assembly 100 to rotate about a first axis of movement. The second gimbal ring 130 may enable the vehicle capture assembly 100 to rotate about a second axis of movement. The second axis may be positioned transversely (e.g., perpendicularly) to the first axis. For example, as oriented in FIG. 3 , the first and second axes may be x- and z-axes (e.g., two horizontal axes). As shown, the pin connections 134, 136 may be offset by approximately 90 degrees to allow rotation about two substantially orthogonal axes.

[0039]

[0046] The damping mount 122 may include multiple translational members (e.g., sleeves 138 and rods 140) defining one or more linear joints or unions that allow one or more translational degrees of freedom (e.g., allowing pure translational motion). For example, the sleeves 138 and rods 140 (e.g., three of each) may all move in a similar direction to provide one translational degree of freedom along a third axis. As shown, the third axis may be positioned transversely (e.g., perpendicularly) to both the first and second axes. As oriented in FIG. 3, the third axis may be the y-axis (e.g., vertical axis).

[0040]

[0047] In some embodiments, the first gimbal ring 128 and the second gimbal ring 130 may operate as an approximate universal joint. When the capture vehicle 10 (FIG. 1) and the target vehicle 11 (FIG. 1) are joined, the damping mount 122 may enable synchronization of the velocities of the vehicles (e.g., in six degrees of freedom, for example, if three or more damping connections are made in the vehicle capture assembly 100) and may minimize any ratio differences (e.g., velocity ratios) between the vehicles 10, 11.

[0041]

[0048] In some embodiments in which multiple vehicle capture assemblies 100 (e.g., three vehicle capture assemblies 100) are utilized, the combination of vehicle capture assemblies 100 coupled to respective docking assemblies 18 of target vehicle 11 ( FIG. 1 ) may approximate another universal joint to achieve motion and / or force attenuation between vehicles 10, 11. For example, both the barbs 106 (e.g., three barbs) and the interior portion of docking assembly 18 with which the distal ends of the barbs 106 engage may include complementary surfaces. In some embodiments, both the barbs 106 and the interior portion of docking assembly 18 may define at least partially spherical surfaces that allow the barbs 106 to move over (e.g., slide along) the interior surface of docking assembly 18 to provide an approximate universal joint.

[0042]

[0049] While the particular embodiments discussed herein are directed to damping mounts 122 having three degrees of freedom (e.g., one translational degree of freedom and two rotational degrees of freedom), other embodiments may include variations of other degrees of freedom, both rotational and translational degrees of freedom (e.g., one to three of each).

[0043]

[0050] The damping mount 122 may include multiple biasing and / or damping members (e.g., passively operating mechanical biasing and damping members, such as three posts 142). Further embodiments may include other numbers of biasing and / or damping members (e.g., 1 to 9 members, which may be adjustable). The posts 142 (e.g., including mechanical biasing mechanisms, such as springs, and / or hydraulic damping mechanisms) may be positioned around the damping mount 122 (e.g., in a loop at 120 degree intervals) and may be coupled between the first mount 124 and the second mount 126.

[0044]

[0051] The struts 142 can act to restrain both rotational and translational movement of the vehicle capture assembly 100. That is, the struts 142 can restrain or damp movement of the vehicle capture assembly 100 while allowing some movement of the vehicle capture assembly 100. For example, rotation of the first gimbal ring 128 and the second gimbal ring 130 can allow the distal end of the vehicle capture assembly 100 to move laterally (e.g., relative to the length or longitudinal axis of the vehicle capture assembly 100 or the centerline of the capture vehicle 100), while the struts 142 restrain the rotation needed to move the vehicle capture assembly 100. Similarly, the sleeve 138 and rod 140 can allow the vehicle capture assembly 100 to move along the length or longitudinal axis of the vehicle capture assembly 100 toward and away from the capture vehicle 10, while the struts 142 restrain translation of the vehicle capture assembly 100.

[0045]

[0052] In some embodiments, the struts 142 can bias the vehicle capture assembly 100 to the initial position to inhibit movement of the vehicle capture assembly 100 away from the initial position and to attempt to force the vehicle capture assembly 100 back to its original orientation at the initial position. For example, the struts 142 can return the vehicle capture assembly 100 to a position perpendicular to one or more of the surfaces of the capture vehicle 10 to which the first pedestal 124, the second pedestal 126, or the damping pedestal 122 are attached. The struts 142 can return the vehicle capture assembly 100 to a position relatively farther away from the capture vehicle 10.

[0046]

[0053] In some embodiments, the struts 142 can dampen motion during the docking procedure. For example, the struts 142 can dampen transitional forces between the vehicles 10, 11 (FIG. 1) when the docking assembly 100 is inserted into the docking cone of the target vehicle 11.

[0047]

[0054] Figure 4 is an isometric view of a vehicle capture assembly (e.g., vehicle capture assembly 100) in an extended or mid-extension position. Figure 5 is an isometric view of a docking assembly 200 for target vehicle 11 (Figure 1).

[0048]

[0055] 1 through 5, in operation, the vehicle capture assembly 100 may be positioned in an initial state shown in FIGS. 2 and 3. In some embodiments, the vehicle capture assembly 100 may be moved from a stowed state (e.g., used during transport) to the initial state. In the stowed state, the probe tip 108 and barb 106 may position the probe tip 108 and docking cone 114 against (e.g., press against) or contact the backflow prevention plate 118.

[0049]

[0056] The lance motor 112 can translate the probe assembly 102 from an initial position toward the target vehicle 11 (e.g., toward the docking assembly 200) to the extended or extending position shown in FIG. 4 . The lance motor 112 and / or the capture vehicle 10 can move (e.g., push) the probe tip 108 through the outer cone 202 of the docking assembly 200, through the neck 204, and into the interior volume 206 of the docking assembly 200. As the probe tip 108 passes through the neck 204, the biasing force of the barbs 106 can be overcome by the force of insertion. The barbs 106 can be at least partially retracted to pass through the neck 204 and then returned to the deployed or extended position within the interior volume 206 for initial capture of the target vehicle 11.

[0050]

[0057] After initial contact and capture, the damping mount 122 can damp the relative motion and / or velocity between the vehicles 10, 11 while allowing the vehicle capture assembly 100 to move with the target vehicle 11. Such damping can continue until the target vehicle 11 is substantially rigid with the capture vehicle 10. In such an embodiment, the damping mount 122 can damp (e.g., minimize) undesired motion and / or forces between the two vehicles 10, 11 while allowing motion to assist the vehicle capture assembly 100 in engaging the target vehicle 11.

[0051]

[0058] The lance motor 112 may retract the probe assembly 102 back toward the capture vehicle 10. The lance motor 112 may force the docking cone 114 into contact with the docking assembly 200 (e.g., within the outer cone 202) to further secure the target vehicle 11. The rim 208 of the docking assembly 200 may be pressed into the backstop plate 118. The latch 120 may be actuated to engage the rim 208 or another feature of the docking assembly 200 to further secure the target vehicle 11 into a rigidified connection.

[0052]

[0059] To release the target vehicle 11 in a non-destructive manner (e.g., repeatable manner), the vehicle capture assembly 100 can release the docking assembly 200 and return to the initial position. For example, the lance motor 112 can move the probe assembly 102 away from the capture vehicle 10. A force applied to the probe tip 108 can overcome the biasing element and move the probe tip 108 relative to an actuation component (e.g., an internal cam). The actuation component can rotate the barb 106 to release the docking assembly 200, and the probe tip 108 can be removed from the docking assembly 200. When the force is removed from the probe tip 108, the biasing element can return the probe tip 108 to an extended position, at which the barb 106 can be returned to the deployed or captured position. The lance motor 112 can return the probe assembly 102 to an initial position similar to the position shown in FIGS. 2 and 3 .

[0053]

[0060] Alternatively, to release target vehicle 11, one or more of vehicle capture assembly 100 and / or docking assembly 200 may include a destructively or non-destructively releasable union. For example, coupling portion 210 may be coupled to target vehicle 11 and releasably coupled to the remainder of docking assembly 200 via releasable union 212. In some embodiments, releasable union 212 may include a pyrotechnic coupling (e.g., one or more explosive bolts) capable of explosively releasing docking assembly 200 from target vehicle 11. In further embodiments, releasable union 212 may be a non-destructively releasable union (e.g., a remotely releasable electronic and / or magnetic latch or coupling).

[0054]

[0061] 6 is an isometric view of a vehicle capture system 300 including multiple vehicle capture assemblies 302. In some embodiments, the multiple vehicle capture assemblies 302 may be similar to and include components similar to the vehicle capture assemblies described above.

[0055]

[0062] 6, vehicle capture assemblies 320 (e.g., three assemblies or arms) may be coupled in a staggered formation (e.g., in a loop) on capture vehicle 304 (e.g., which may be similar to capture vehicle 10 (FIG. 1)). As shown, vehicle capture assemblies 302 may be offset from a central portion or centerline of capture vehicle 304. Such an offset may provide clearance for a propulsion system or propulsion element (e.g., a primary engine) of capture vehicle 304 and / or the target vehicle.

[0056]

[0063] Two or more of the vehicle capture assemblies 302 can collectively (e.g., substantially simultaneously) dock with the target vehicle and pull the target vehicle to secure it together with the capture vehicle 304 by substantially simultaneously retracting each lance assembly of the vehicle capture assemblies 302. In some embodiments, the vehicle capture assemblies 302 can provide redundant docking connections in the event of a misaligned or otherwise failed docking with one or more of the vehicle capture assemblies 302.

[0057]

[0064] As shown, each of the vehicle capture assemblies 302 may include a respective damping mount 306, which may be similar to the damping mounts described above. The damping mounts 306 may each be fixedly coupled to the capture vehicle 304 (e.g., by a mounting frame 308) and movably coupled to each of the vehicle capture assemblies 302. The damping mounts 306 may each allow independent movement of the vehicle capture assemblies 302 relative to each other and the capture vehicle 304.

[0058]

[0065] 7 is an isometric view of a probe movement feature, such as attenuation stage 400. In some embodiments, attenuation stage 400 can be similar to attenuation stages 24, 122 described above.

[0066] As shown, the damping mount 400 may include a first mount 420 and a second mount 422, where one of the first mount 420 or the second mount 422 may be coupled (e.g., rigidly coupled) to the capture vehicle 10. For example, the first mount 420 may be rigidly coupled to the capture vehicle 10 while being movably coupled (e.g., rotatably coupled) to the second mount 422. The second mount 422 may be movably coupled (e.g., rotatably coupled) to a central member 424, where a portion of the central member 424 receives at least a portion of the vehicle capture assembly 100 ( FIG. 1 ). For example, the central member 424 may include a shaft 426 that receives (e.g., is coupled to) the lance boom 110 ( FIG. 1 ). In some embodiments, the shaft 426 may be slidable within the central member 424.

[0059]

[0067] The second platform 422 may be movably coupled to the first platform 420 via one or more movable unions or joints 428 to allow the second platform 422 to move relative to both the first platform 420 and the capture vehicle 10. The movable unions or joints 428 may provide at least one degree of freedom of movement (e.g., rotational and / or translational) between the second platform 422 and the first platform 420. For example, the damping platform 400 may include a first platform 420 rotatably coupled to the second platform 422 to allow the vehicle capture assembly 100 to rotate about a first axis of movement.

[0060]

[0068] The second platform 422 may be rotatably coupled to a portion of the central member 424 (e.g., platform 430 of the central member 424) at one or more movable unions or joints 432 to enable the vehicle capture assembly 100 to rotate about a second axis of movement. The second axis may be positioned transversely (e.g., perpendicularly) to the first axis. For example, as oriented in FIG. 7, the first and second axes may be x- and z-axes (e.g., two horizontal axes). As shown, joints 428, 432 may be offset approximately 90 degrees to enable rotation about two substantially orthogonal axes.

[0061]

[0069] The damping mount 400 may be translatable to define one or more linear joints or unions that allow one or more translational degrees of freedom (e.g., allowing pure translational motion). For example, the shaft 426 of the central member 424 may translate relative to the central member 424 (e.g., by first and second mounts 420, 422 coupled to the central member 424) to provide one translational degree of freedom along a third axis. As shown, the third axis may be positioned transversely (e.g., perpendicularly) to the first and second axes. As oriented in FIG. 7, the third axis may be the y-axis (e.g., vertical axis).

[0062]

[0070] As shown, the entire assembly of first and second stages 420, 422 coupled to central member 424 can move relative to base member 434 to achieve translation. In some embodiments, shaft 426 can be coupled to base member 434 such that shaft 426 and base member 434 translate together relative to central member 424. In further embodiments, shaft 426 can also translate relative to base member 434.

[0063]

[0071] In some embodiments, the first mount 420 and the second mount 422 may operate as an approximate universal joint or as a true universal joint. When the capture vehicle 10 (FIG. 1) and the target vehicle 11 (FIG. 1) are joined, the damping mount 400 may enable synchronization of the velocities of the vehicles (e.g., in six degrees of freedom, for example, if three or more damping connections are made in the vehicle capture assembly 100) and may minimize any ratio differences (e.g., speed ratios) between the vehicles 10, 11.

[0064]

[0072] In some embodiments where multiple vehicle capture assemblies 100 (e.g., three vehicle capture assemblies 100) are utilized, the combination of vehicle capture assemblies 100 coupled to respective docking assemblies 18 of target vehicle 11 ( FIG. 1 ) may approximate another universal joint to achieve motion and / or force attenuation between vehicles 10, 11. For example, both the barbs 106 (e.g., three barbs) and the interior portion of the docking assembly 18 with which the distal ends of the barbs 106 engage may comprise complementary surfaces. In some embodiments, both the barbs 106 and the interior portion of the docking assembly 18 may define at least partially spherical surfaces that allow the barbs 106 to move over (e.g., slide along) the interior surface of the docking assembly 18 to provide an approximate universal joint.

[0065]

[0073] While the particular embodiments discussed herein are directed to damping table 400 having three degrees of freedom (e.g., one translational degree of freedom and two rotational degrees of freedom), other embodiments may include variations of other degrees of freedom, both rotational and translational degrees of freedom (e.g., one to three each).

[0066]

[0074] The damping mount 400 may include multiple biasing and / or restraining members (e.g., passively operating mechanical biasing and restraining members, including mechanical biasing mechanisms such as springs and / or hydraulic restraining mechanisms). For example, linear and / or rotational restraining members (e.g., rotational restraining member 442) may be positioned at the joints 428, 432 to restrain relative motion between the first mount 420 and the second mount 422 and between the second mount 422 and the central member 424. As shown, one or more linear and / or rotational restraining members (e.g., two or more linear restraining members 444, such as struts) may be positioned between the central member 424 and the base portion 434.

[0067]

[0075] Restraining members 442, 444 can collectively act to restrain both rotational and translational movement of vehicle capture assembly 100. That is, restraining members 442, 444 can restrain or dampen movement of vehicle capture assembly 100 while allowing some movement of the vehicle capture assembly 100. For example, rotation of first platform 420, second platform 422, and central member 424 can allow the distal end of vehicle capture assembly 100 to move laterally (e.g., relative to the length or longitudinal axis of vehicle capture assembly 100 or the centerline of capture vehicle 100), while restraining member 422 restrains the rotation needed to move vehicle capture assembly 100. Similarly, translatable central member 424 can allow vehicle capture assembly 100 to move along the length or longitudinal axis of vehicle capture assembly 100 toward and away from capture vehicle 10, while restraining member 444 restrains translation of vehicle capture assembly 100.

[0068]

[0076] In some embodiments, the restraining members 442, 444 can bias the vehicle capture assembly 100 to the initial position to inhibit movement of the vehicle capture assembly 100 away from the initial position and attempt to force the vehicle capture assembly 100 back to its original orientation at the initial position. For example, the restraining members 442, 444 can return the vehicle capture assembly 100 to a position perpendicular to one or more of the surfaces of the capture vehicle 10 to which the first platform 420, the second platform 422, or the damping platform 400 are attached. The restraining member 442 can return the vehicle capture assembly 100 to a position relatively farther away from the capture vehicle 10.

[0069]

[0077] In some embodiments, the damping members 442, 444 can dampen movement during the docking procedure. For example, the damping members 442, 444 can dampen transition forces between the vehicles 10, 11 (FIG. 1) when the docking assembly 100 is inserted into the docking cone of the target vehicle 11.

[0070]

[0078] The embodiments of the present disclosure described above and illustrated in the accompanying drawings are merely examples of embodiments of the present disclosure and do not limit the scope of the present disclosure. The present disclosure is defined by the appended claims and their legal equivalents. Any equivalent embodiments are within the scope of the present disclosure. Indeed, various modifications of the present disclosure, in addition to those shown and described herein, will become apparent to those skilled in the art from the description, such as alternative useful combinations of the described elements. Such modifications and embodiments also fall within the scope of the appended claims and their legal equivalents. The terminology used herein has been selected to explain the principles, practical applications, or technical improvements of the embodiments over technologies found in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. 1. A vehicle capture assembly for use with a capture vehicle, comprising: a probe assembly including one or more retention elements for engaging and securing a target vehicle; a probe movement feature coupled to at least a portion of the probe assembly; Equipped with the probe movement feature: a first platform and a second platform configured to move relative to one another, the second platform coupled to the probe assembly, the first platform attaching the vehicle capture assembly to the capture vehicle, the second platform rotatably coupled to a central member, a portion of the central member receiving at least a portion of a lance coupled to the probe assembly of the vehicle capture assembly; at least one movable union between the first and second platforms, the at least one movable union enabling the probe assembly to move in at least one degree of freedom relative to the capture vehicle; at least one damping feature coupled between the first platform and the second platform for inhibiting movement of the probe assembly relative to the capture vehicle; Equipped with Vehicle Capture Assembly.

2. The vehicle capture assembly of claim 1 , wherein said at least one movable union comprises three movable unions.

3. The three movable unions are: a first union that allows rotation of the probe assembly about a first axis; a second union that permits rotation of the probe assembly about a second axis, the second axis being oriented transverse to the first axis; and a third union that allows translation of the probe assembly along a third axis; 3. The vehicle capture assembly of claim 2, comprising:

4. 4. The vehicle capture assembly of claim 3, wherein said third axis is oriented transversely to both said first axis and said second axis.

5. 5. The vehicle capture assembly of claim 4, wherein said third union comprises a direct coupling between said first platform and said second platform.

6. 4. The vehicle capture assembly of claim 3, wherein said first union and said second union include gimbals having two rotational degrees of freedom.

7. 7. The vehicle capture assembly of claim 6, wherein said first union and said second union define a first universal joint between said first platform and said second platform.

8. 8. The vehicle capture assembly of claim 7, wherein the one or more retaining elements are configured to substantially define a second universal joint between the probe assembly and an inner surface of the docking cone when received in and engaged with a docking cone of the target vehicle.

9. 9. A vehicle capture assembly as described in any one of claims 1 to 8, wherein the at least one damping feature includes one or more restraining members positioned about the probe assembly, each of the one or more restraining members configured to restrain at least one of rotation or translation of the probe assembly.

10. 2. The vehicle capture assembly of claim 1, wherein said central member is movably coupled to said probe assembly and said second platform to enable said probe assembly to translate along an axis relative to said capture vehicle.

11. 2. The vehicle capture assembly of claim 1, wherein the first mount comprises at least two gimbal rings, the at least two gimbal rings configured to enable the second mount to rotate relative to the first mount about two axes of rotation.

12. 9. A vehicle capture assembly as claimed in any one of claims 1 to 8, wherein the probe movement feature enables the vehicle capture assembly to move a longitudinal axis of the vehicle capture assembly in a direction transverse to a centreline of the capture vehicle.

13. The vehicle capture assembly of claim 1 , wherein the probe movement feature is configured to damp translational forces between the target vehicle and the capture vehicle during a docking procedure.

14. 1. A spacecraft capture system, comprising: two or more vehicle capture assemblies to be positioned on the capture vehicle; each of the two or more vehicle capture assemblies: a probe assembly including one or more retention elements for engaging and securing a target spacecraft; a lance coupled to the probe assembly, the probe assembly being positioned at a distal portion of the lance; a first platform for coupling to the capture vehicle; a second platform coupled to the probe assembly via a central member and the lance; at least one movable joint between the first and second platforms for allowing the probe assembly and the lance coupled to the second platform via the central member to move about two axes of rotation relative to the first platform coupled to the capture vehicle; Equipped with the two or more vehicle capture assemblies are configured to substantially simultaneously retract a respective probe assembly of each of the two or more vehicle capture assemblies to immobilize the target spacecraft. Spacecraft capture system.

15. 15. The spacecraft capture system of claim 14, wherein the two or more vehicle capture assemblies are configured to collectively substantially define a universal joint between the two or more vehicle capture assemblies and both the target spacecraft and the capture vehicle when the probe assembly of each of the two or more vehicle capture assemblies is received in and engaged with a respective docking cone of the target spacecraft.

16. 16. The spacecraft capture system of claim 15, wherein said at least one movable joint further comprises a prismatic joint coupling said first platform to said probe assembly to enable said probe assembly to translate along an axis of movement.

17. 1. A method of capturing a spacecraft, comprising: extending a probe of a vehicle capture assembly toward a target spacecraft, said vehicle capture assembly being coupled to a capture vehicle; enabling movement of the vehicle capture assembly relative to the capture vehicle using a probe movement feature coupled to at least a portion of the probe; The probe movement feature comprises: a first platform and a second platform configured to move relative to one another, the second platform coupled to a probe assembly, the first platform attaching the vehicle capture assembly to the capture vehicle, and the second platform rotatably coupled to a central member, a portion of the central member receiving at least a portion of a lance coupled to the probe assembly of the vehicle capture assembly; at least one movable union between the first platform and the second platform, the at least one movable union allowing the probe assembly to move in at least one degree of freedom relative to the capture vehicle; and restraining the movement of the vehicle capture assembly with a damping assembly coupled between the first platform and the second platform, to restrain movement of the probe assembly relative to the capture vehicle before the vehicle capture assembly secures the capture vehicle in a docking position; engaging the probe of the vehicle capture assembly with the target spacecraft; A method comprising:

18. The step of enabling and constraining the movement of the vehicle capture assembly comprises: enabling translation of the vehicle capture assembly in a direction toward the capture vehicle; and and damping said translation of said vehicle capture assembly with said damping assembly.

18. The method of claim 17, comprising:

19. The step of enabling and constraining the movement of the vehicle capture assembly comprises: enabling rotation of the vehicle capture assembly about the capture vehicle; and and damping said rotation of said vehicle capture assembly with said damping assembly.

19. The method of claim 17 or 18, comprising:

20. 19. The method of claim 17 or 18, wherein the step of enabling and constraining the movement of the vehicle capture assembly includes passively damping the capture vehicle with the damping assembly before the vehicle capture assembly secures the capture vehicle in a docking position.

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