Capturing system and capturing method

Abstract

Provided is a capturing system 1 capable of safely capturing an object to be captured using a simple configuration and operation, said object having an annular opening portion OT and performing a residual motion. The capturing system 1 comprises: a supporting body 10 attached to a spacecraft 2 that moves in outer space; a plurality of deployable rods 20 configured to be deployed radially from the supporting body 10; and gripping mechanisms 30 attached to each of the plurality of deployable rods 20 and configured to be coupled to the annular opening portion OT of the object to be captured. Each gripping mechanism 30 includes: a first link 31 that is free to pivot about a shaft 23 provided at the tip end of each of the plurality of deployable rods 20 and that is configured to be deployed to a position spaced apart from the supporting body 10; and a second link 32 that is free to pivot about the shaft 23 and that is configured to change the angle thereof with respect to the first link 31.

Description

Capture system and capture method

[0001] The present invention relates to a capture system and a capture method.

[0002] Currently, technologies have been proposed for servicing satellites that are configured to approach non-cooperative space objects that do not have an interface such as a marker (for example, a satellite that has run out of fuel, space debris such as a rocket upper stage that has outlived its useful life, etc.) to provide orbital servicing or remove the debris. It is known that in order to capture a non-cooperative space object (such as a satellite or a rocket upper stage), it is essential for such a servicing satellite to have the ability to dock with a cylindrical or conical portion that is a characteristic configuration of the object.

[0003] For this reason, in recent years, a debris capture device has been proposed that includes a base frame, multiple telescopic devices attached to the base frame, and V-shaped end effectors connected to each of the multiple telescopic devices (see Patent Document 1). It is said that using this device, it is possible to capture a rocket upper stage by deploying the multiple end effectors radially outward and engaging each end effector from the inside with the end (annular opening) of a cylindrical or conical portion of the rocket upper stage, which is the object to be captured.

[0004] Patent No. 7389991

[0005] However, non-cooperative space objects to be captured often exhibit residual motions, such as rotational or pestle motions. Therefore, loads resulting from such residual motions must be alleviated when the servicing satellite is docked and captured. Furthermore, it is difficult to perform highly accurate position and attitude control for objects with residual motions. The conventional device disclosed in Patent Document 1 does not take into account the residual motion of the upper stage of the rocket, which is the object to be captured, making it difficult to align the object with the annular opening of the upper stage of the rocket. To solve this problem, a large servicing satellite with a complex system configuration and operational scenario, including an advanced attitude and orbit control system and propulsion system, is required. Furthermore, if a malfunction occurs during capture operations, causing the servicing satellite and the object to collide or get caught, parts may break and scatter into various orbits, potentially leading to further orbital problems such as debris formation. Therefore, in order to provide inexpensive on-orbit servicing, the development of a technology for safely capturing objects with residual motions using a simple configuration and operation has been highly anticipated.

[0006] The present invention was made in consideration of the above circumstances, and aims to provide a capture system that can safely capture a capture target that has an annular opening and undergoes residual movement with a simple configuration and operation.

[0007] In order to achieve the above-mentioned object, a first aspect of the present invention is a system for capturing an object to be captured in outer space, comprising: a support attached to a spacecraft moving in outer space; a plurality of deployable rods configured to be deployed radially from the support; and a gripping mechanism attached to each of the plurality of deployable rods and configured to connect to an annular opening of the object to be captured, wherein the gripping mechanism has a first link that is rotatable around a first axis provided at the tip of each of the plurality of deployable rods and configured to be deployed to a position away from the spacecraft, and a second link that is rotatable around the first axis (or a second axis arranged near the first axis) and configured to change the angle relative to the first link.

[0008] With this configuration, the first links of the gripping mechanism attached to each of a plurality of deployable rods that radially deploy from a support attached to the spacecraft can be rotated around a first axis provided at the tip of each deployable rod to a position away from the support, thereby enabling each of the first links to abut against the annular opening of an object to be captured in space (e.g., each of the first links can be positioned on the same imaginary plane). Therefore, when the spacecraft approaches the object to be captured, each of the first links can abut against the annular opening of the object to be captured. Furthermore, the second links of the gripping mechanism can be rotated around the first axis (or a second axis disposed near the first axis) to change their angle relative to the first link. Therefore, when the first links are brought into abutment with the annular opening of the object to be captured, the angle of the second link relative to the first link can be set to an obtuse angle, allowing the second links to be inserted into the annular opening of the object to be captured. In this case, even if the center position of the support is offset from the center position of the annular opening of the target object, the approximately conical guide structure formed by each of the second links, which are angled at an obtuse angle relative to the first link, allows the center position of the support to approach the center position of the annular opening of the target object (centering function). After inserting the second link into the annular opening of the target object, the angle of the second link relative to the first link is set to an acute angle, allowing the first and second links to sandwich and grasp the annular opening of the target object. This allows the grasping mechanism to be coupled to the target object. Therefore, even if the target object is undergoing residual motion, the simple configuration and operation allow the target object to be safely captured.

[0009] In the capture system of the present invention, the gripping mechanism may have a third link that is freely rotatable around a third axis provided at the tip of each of the second links and configured to change the angle relative to the second link.

[0010] With this configuration, when the first link and the second link clamp the annular opening of the object to be captured, the third link can be hooked onto the annular opening of the object to be captured, thereby more reliably connecting the gripping mechanism to the object to be captured.

[0011] In the capture system according to the present invention, the support can be attached to the spacecraft via a robot arm. In such a case, a shock-absorbing elastic body can be provided at the connection between the support and the robot arm or inside the robot arm.

[0012] By adopting such a configuration, the transmission of the impact load generated when the gripping mechanism is connected to the object to be captured and the object to be captured to the spacecraft can be prevented by a shock-absorbing elastic body provided at the connection between the support body and the robot arm or inside the robot arm.

[0013] In addition, in the capture system according to the present invention, three or more deployable rods may be provided, and these three or more deployable rods may be configured to be deployed radially in different directions from the support.

[0014] With this configuration, three or more deployable rods can be deployed radially in different directions from the support, and the gripping mechanisms attached to each of these deployable rods can be coupled to the annular opening of the target object. Therefore, the gripping mechanisms can be coupled to at least three locations on the annular opening of the target object, making it possible to capture the target object more reliably.

[0015] A second aspect of the present invention is a method for capturing an object to be captured in outer space using the capture system of the first aspect, comprising: a deployment step of radially deploying a plurality of deployable rods from a support of the capture system; and a coupling step of coupling a gripping mechanism attached to each of the plurality of deployable rods to the object to be captured. The coupling step includes: a contact step of, when the spacecraft approaches the object to be captured, rotating each of the first links of the gripping mechanism around an axis provided at the tip of each of the plurality of deployable rods to a position away from the support, thereby abutting the first link against the annular opening of the object to be captured; an insertion step of, when abutting the first link against the annular opening, setting the angle of the second link of the gripping mechanism relative to the first link to an obtuse angle, thereby inserting the second link into the annular opening; and a gripping step of, after inserting the second link into the annular opening, setting the angle of the second link relative to the first link to an acute angle, thereby sandwiching and gripping the annular opening between the first link and the second link.

[0016] By adopting this method, when the spacecraft approaches the target object, each of the first links of the gripping mechanism attached to each of a plurality of deployable rods radially deployed from the support can be rotated around an axis provided at the tip of each deployable rod to deploy the first link to a position away from the support. This allows each of the first links to abut against the annular opening of the target object. By setting the angle of the second link relative to the first link at an obtuse angle, the second link can be inserted into the annular opening of the target object. Then, by setting the angle of the second link relative to the first link at an acute angle, the first link and the second link can sandwich and grip the annular opening of the target object. This allows the gripping mechanism to be coupled to the target object. Therefore, even if the target object is undergoing residual motion, the target object can be safely captured with a simple configuration and operation.

[0017] In the capturing method of the present invention, in the abutment process, each of the first links can be rotated around an axis and deployed to a position away from the support, thereby arranging them on the same imaginary plane.

[0018] By adopting this method, each of the first links can be positioned on the same virtual plane (each of the first links forms a pseudo-plane), which has the advantage of making it easier to abut each of the first links against the annular opening of the object to be captured.

[0019] In the capturing method of the present invention, the coupling process can include a centering process in which the center position of the support is brought closer to the center position of the annular opening of the object to be captured by using an approximately conical guide structure formed by each of the second links that are at an obtuse angle relative to the first link.

[0020] By adopting this method, even if the center position of the support is shifted from the center position of the annular opening of the object to be captured, the approximately conical guide structure formed by each of the second links, which are at an obtuse angle relative to the first link, can bring the center position of the support closer to the center position of the annular opening of the object to be captured.

[0021] According to the present invention, it is possible to provide a capture system that can safely capture a capture target that has an annular opening and exhibits residual movement with a simple configuration and operation.

[0022] 1 is a diagram illustrating the configuration of a capture system according to an embodiment of the present invention; FIG. 1 is a diagram illustrating a state in which the deployable rod of the capture system shown in FIG. 1 is folded (launched state); FIG. 2 is a diagram illustrating a state in which the deployable rod of the capture system shown in FIG. 1 is in an early stage of deployment; FIG. 3 is a diagram illustrating a state in which the deployable rod of the capture system shown in FIG. 1 is in an intermediate stage of deployment; FIG. 4 is a diagram illustrating a state in which the deployable rod of the capture system shown in FIG. 1 is in a final stage of deployment (a state in which the first link of the gripping mechanism abuts against the annular opening of the target object and the second link is inserted into the annular opening of the target object); FIG. 5 is a diagram illustrating a state in which the second link of the gripping mechanism of the capture system shown in FIG. 1 forms an acute angle with the first link; FIG. 6 is a diagram illustrating a state in which the annular opening of the target object is gripped by the gripping mechanism of the capture system shown in FIG. 1; FIG. 7 is a diagram illustrating an example of the configuration of a buffer mechanism of the capture system shown in FIG. 1; FIG. 8 is a diagram illustrating another example of the configuration of a buffer mechanism of the capture system shown in FIG. 1; FIG. 9 is a flowchart illustrating a method for capturing an object to be captured using the capture system shown in FIG. 1; FIG. 10 is a diagram illustrating an insertion process of the capture method using the capture system shown in FIG. 1; FIG. 11 is a diagram illustrating a method for capturing an object to be captured using the third link of the capture system shown in FIG.

[0023] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0024] First, the configuration of a capture system 1 according to an embodiment of the present invention will be described with reference to Figures 1 to 9. The capture system 1 functions to capture an object to be captured that exists in outer space. The object to be captured in this embodiment is a non-cooperative space object (such as an artificial satellite or a rocket upper stage) that performs residual motion such as rotational motion or rolling motion, and has an annular opening O at the end of a cylindrical or conical portion. Ｔ (See FIG. 7).

[0025] As shown in FIG. 1, the capture system 1 includes a support 10 attached to a spacecraft 2 moving in space via a robot arm 3 and a shock absorber mechanism 40 (described later), a plurality of deployable rods 20 configured to be deployed radially from the support 10, and a plurality of deployable rods 20 attached to each of the deployable rods 20 and configured to extend through an annular opening O of the object to be captured. Ｔand a gripping mechanism 30 configured to couple to the

[0026] As shown in FIG. 1 , the support 10 includes a housing-like main body 11 having a space therein for accommodating various components, a drive control unit 12 for controlling the drive of the deployable rod 20, and a locking mechanism 13 for fixing the deployable rod 20 during launch. The three-dimensional shape of the main body 11 is not particularly limited, and may be, for example, a cylindrical, rectangular tubular, rectangular parallelepiped, or cubic shape. The size of the main body 11 is not particularly limited as long as it is large enough to be attached to a rocket and launched into space. The spacecraft 2 or the main body 11 is equipped with an object sensor or the like for detecting an object to be captured. The drive control unit 12 is mounted in the internal space of the main body 11 and functions to drive and control the operation of the deployable rod 20 and the gripping mechanism 30.

[0027] The multiple deployable rods 20 are configured to radially deploy in different directions from the main body 11 of the support body 10. It is preferable to provide three or more deployable rods 20, and in this embodiment, six deployable rods 20 are used. Each deployable rod 20 has multiple rod portions 21 and hinge portions 22 that rotatably connect these rod portions 21, and is configured to be able to be folded at launch as shown in Figure 2, and to be able to be deployed as shown in Figures 3 to 7.

[0028] The gripping mechanism 30 includes a first link 31 rotatable about an axis 23 provided at the tip of each of the multiple deployable rods 20 and configured to deploy to a position away from the support body 10, a second link 32 rotatable about the axis 23 and configured to change an angle relative to the first link 31, and a third link 33 rotatable about an axis 34 provided at the tip of each of the second links 32 and configured to change an angle relative to the second link 32. The second link 32 may rotate about an axis (second axis) different from the axis 23 (first axis) that is the rotation center of the first link 31. In this case, the second axis will be located near the axis 23 (first axis), and the axis 34 that is the rotation center of the third link 33 will correspond to the third axis.

[0029] When the spacecraft 2 approaches the object to be captured, the drive control unit 12 rotates each of the first links 31 of the gripping mechanism 30 around the shaft 23 provided at the tip of each of the plurality of deployable rods 20, deploying them to a position away from the support 10, and arranging them on the same imaginary plane P as shown in Figures 5 and 7 (i.e., each of the first links 31 forms a pseudo-plane). Then, in this state, each of the first links 31 is positioned so that it faces the annular opening O of the object to be captured. Ｔ It can be brought into contact with.

[0030] The drive control unit 12 also controls the first link 31 to pass through the annular opening O. Ｔ When the second link 32 of the gripping mechanism 30 is brought into contact with the first link 31, the angle θ of the second link 32 of the gripping mechanism 30 relative to the first link 31 is set to an obtuse angle (see FIGS. 1 and 5). Ｔ At this time, the center position of the spacecraft 10 is aligned with the annular opening O of the object to be captured by the substantially conical guide structure G (see FIGS. 1 and 5) formed by each of the second links 32 that are at an obtuse angle relative to the first links 31. Ｔ This allows you to move the object closer to the center position (centering function).

[0031] Furthermore, the drive control unit 12 connects the second link 32 to the annular opening O. ＴAfter inserting the second link 32 into the first link 31, the angle θ of the second link 32 relative to the first link 31 is set to an acute angle (see FIGS. 6 and 7), so that the first link 31 and the second link 32 form the annular opening O. Ｔ The gripping mechanism 30 has a first link 31 and a second link 32 that form an annular opening O. Ｔ A fixed detection sensor 35 (see FIG. 1) is provided to detect that the object has been pinched and gripped.

[0032] In this embodiment, a buffer mechanism 40 is provided at the connection portion between the support body 10 and the robot arm 3. This makes it possible for the buffer mechanism 40 to suppress the transmission of an impact load that occurs when the gripping mechanism 30 is coupled to an object to be captured and the object is captured, from being transmitted to the spacecraft 2. Note that a buffer mechanism may also be provided inside the robot arm 3 (for example, inside each joint 3 a of the robot arm 3).

[0033] The buffer mechanism 40 may be a configuration 40A as shown in FIG. 8, which uses a movable support mechanism made up of ball bearings or the like to enable buffering with a virtual center of rotation of posture displacement set upward, or a configuration 40B as shown in FIG. 9, which uses an elastic body to enable buffering in all axes of translation and posture.

[0034] The buffer mechanism 40A shown in FIG. 8 is a mechanism with degrees of freedom in three translational axes and three orientation axes, and includes a translationally movable unit 41A and an orientation movable unit 42A. The translationally movable unit 41A has linear guides 41Aa and ball bearing mechanisms 41Ab for each of the three translational axes to support the support unit 10. The orientation movable unit 42A has three or more ball bearings 42Aa, ball holding retainers 42Ab, and spherical seats 42Ac to support the support unit 10, and is configured so that a virtual center of rotation VO is located near the tip of the support unit 10. Each axis of these movable units 41A and 42A is equipped with an elastic body 43A, which displaces according to the rigidity of the elastic body when an external force is applied to the support unit 10, but can return the support unit 10 to a central position and orientation when no external force is applied. In addition, the buffer mechanism 40 of Figure 8 uses a retractable holding mechanism 44A using a wire or the like to displace the support body 10 vertically to the bottom end, and locks the retractable holding mechanism 44A in a state in which holding cone fittings 45A provided at three or more locations on the bottom of the support body 10 are engaged with holding cup fittings 46A provided on a specified base (such as the connection part of the robot arm 3) corresponding to these fittings. This makes it possible to rigidly hold the support body 10 during launch, etc.

[0035] The buffer mechanism 40B shown in Figure 9 includes retaining cones 41B provided at three or more locations on the lower part of the support body 10 and corresponding retaining cups 42B provided on a predetermined base (the connection point for the robot arm 3). The support body 10 and the base are connected by a wire 43B and an elastic body 44B. When the wire 43B is unwound and loosened by a winding mechanism 45B, the support body 10 can be displaced relative to the base in three translational axes and three orientation axes. By displacing the support body 10 vertically to the bottom end and engaging the retaining cones 41B and the retaining cups 42B, and then locking the winding mechanism 45B, the support body 10 can be rigidly held during launch, etc.

[0036] Next, a method for capturing an object to be captured in outer space using the capture system 1 according to this embodiment will be described with reference to the flowchart of FIG.

[0037] First, the spacecraft 2 is moved toward the target object, and the support 10 attached to the spacecraft 2 is brought close to the target object (approaching step: S1). At this time, the spacecraft 2 searches for the target object while performing sensing using an object sensor or the like. For example, the search can be realized by irradiating light from a light projector attached to the spacecraft 2 with light reflected off a characteristic optical surface or marker surface of the target object, capturing the light with the object sensor, and recognizing it with a computing unit. By recognizing the relative position and relative orientation of the target object based on information obtained from recognizing the characteristic optical surface or marker pattern, the spacecraft 2 can move closer to the target object. While the spacecraft 2 is approaching the target object, the deployable rod 20 is in a folded state, as shown in FIG. 2 .

[0038] Next, when the distance between the object to be captured and the support 10 is equal to or less than a predetermined value, the plurality of deployable rods 20 are deployed radially from the support 10 of the capture system 1 (deployment step: S2), as shown in Figures 3 to 5. Subsequently, the gripping mechanisms 30 attached to each of the plurality of deployable rods 20 are coupled to the object to be captured (coupling step: S3).

[0039] The joining step S3 will now be described in detail.

[0040] In the coupling step S3, when the spacecraft 2 (or the support 10 due to the movement of the robot arm 3) is brought close to the object to be captured, each of the first links 31 of the gripping mechanism 30 is rotated around the shaft 23 provided at the tip of each of the plurality of deployable rods 20 to be deployed to a position away from the support 10, thereby aligning the annular opening O of the object to be captured. Ｔ In the abutting step S31, each of the first links 31 is rotated about the shaft 23 to be deployed to a position away from the support 10, so that the first links 31 can be arranged on the same imaginary plane P as shown in FIG. 5 (i.e., each of the first links 31 forms a pseudo-plane).

[0041] In the joining step S3, the first link 31 is joined to the annular opening O. ＴWhen the second link 32 of the gripping mechanism 30 is brought into contact with the first link 31, the angle θ of the second link 32 of the gripping mechanism 30 relative to the first link 31 is set to an obtuse angle as shown in FIGS. 5 and 11, so that the second link 32 is brought into contact with the annular opening O. Ｔ (Note that FIG. 11 is a diagram in which the vertical relationship is reversed from FIG. 5, and the object to be captured is placed at the bottom of the drawing.) Also, the coupling step S3 aligns the center position of the support 10 with the annular opening O of the object to be captured by a substantially conical guide structure G (see FIGS. 1 and 5) formed by each of the second links 32 that are at an obtuse angle with respect to the first link 31. Ｔ The method also includes a centering step S33 of bringing the object closer to the center position of the object.

[0042] Furthermore, in the joining step S3, the second link 32 is inserted into the annular opening O. Ｔ 6 and 7, the angle θ of the second link 32 relative to the first link 31 is set to an acute angle, so that the first link 31 and the second link 32 form the annular opening O. Ｔ 2 to 7, the third link 33 is not shown, but in the gripping step S34, the first link 31 and the second link 32 clamp the annular opening O of the object to be captured. Ｔ When the object is caught, the third link 33 is inserted into the annular opening O of the object to be caught. Ｔ It can also be hooked onto

[0043] By these steps S1 to S3, the gripping mechanism 30 of the capture system 1 is pulled into the annular opening O of the capture target. Ｔ In the capturing method of this embodiment, the annular opening O of the object to be captured is connected to the Ｔ The first link 31, which forms a larger diameter than the annular opening O, Ｔ Therefore, even if a problem occurs in the position and attitude control during coupling, the annular opening O ＴThis is also advantageous in terms of safety, as it prevents the object from unexpectedly getting caught or caught in the grip. To subsequently release the object to be captured, the angle θ of the second link 32 relative to the first link 31, which was an acute angle, is made an obtuse angle, thereby releasing the gripped state. Since the angle θ of the second link 32 relative to the first link 31 can be made an obtuse angle in this way, it is less likely that the gripping mechanism 30 will get caught on the object to be captured during release, making it less likely that problems will occur during the release operation.

[0044] In the capture system 1 according to the above embodiment, the first link 31 of the gripping mechanism 30 attached to each of the plurality of deployable rods 20 that are deployed radially from the support 10 is rotated around the shaft 23 provided at the tip of each deployable rod 20 to deploy it to a position away from the support 10, thereby capturing the annular opening O of the object to be captured in outer space. Ｔ In this way, each of the first links 31 can be brought into a state in which they can come into contact with each other (each of the first links 31 can be arranged on the same imaginary plane P). Therefore, when the spacecraft 2 approaches the object to be captured, each of the first links 31 can be brought into contact with the annular opening O of the object to be captured. Ｔ That is, in this embodiment, since the capture progresses by advancing the spacecraft 2 (or the support 10 by the movement operation of the robot arm 3), there is an advantage that the required accuracy of alignment in the front-rear direction (vertical direction) is relaxed. Also, the second link 32 of the gripping mechanism 30 is configured to be able to rotate around the axis 23 to change the angle with respect to the first link 31. Therefore, the first link 31 can be positioned so that it is easy to move the first link 31 around the annular opening O of the object to be captured. Ｔ When the second link 32 is brought into contact with the object to be captured, the angle of the second link 32 relative to the first link 31 is set to an obtuse angle (see FIG. 11, etc.), so that the second link 32 is brought into contact with the annular opening O of the object to be captured. Ｔ At this time, the annular opening O of the object to be captured can be inserted into the inside of the Ｔ Even if the center position of the support 10 is shifted from the center position of the annular opening O of the object to be captured, the center position of the support 10 is aligned with the annular opening O of the object to be captured by the substantially conical guide structure G formed by each of the second links 32 which are in an obtuse angle position with respect to the first link 31. ＴTherefore, in this embodiment, there is an advantage that the required accuracy of positioning in the radial direction (lateral direction) is also relaxed. Ｔ After the first link 31 is inserted into the inside of the annular opening O of the object to be captured, the angle of the second link 32 relative to the first link 31 is set to an acute angle, so that the first link 31 and the second link 32 form an annular opening O of the object to be captured. Ｔ This allows the gripping mechanism 30 to be coupled to the object to be captured, making it possible to safely capture the object to be captured with a simple configuration and operation.

[0045] In addition, in the capture system 1 according to the above embodiment, the first link 31 and the second link 32 form a ring-shaped opening O of the capture target. Ｔ When the object is caught, the third link 33 is inserted into the annular opening O of the object to be caught. Ｔ Therefore, the gripping mechanism 30 can be more reliably coupled to the object to be captured.

[0046] Furthermore, in the capture system 1 according to the above embodiment, the shock load generated when the gripping mechanism 30 is attached to the object to be captured and the object to be captured is prevented from being transmitted to the spacecraft 2 by a buffer mechanism 40 provided at the connection portion between the support body 10 and the robot arm 3 (or inside the robot arm 3).

[0047] In addition, in the capture system 1 according to the above embodiment, three or more deployable rods 20 are deployed radially in different directions from the support 10, and the gripping mechanisms 30 attached to each of these deployable rods 20 are inserted into the annular opening O of the object to be captured. Ｔ Therefore, the annular opening O of the target part can be connected to the Ｔ Since the gripping mechanism 30 can be connected to at least three places, it is possible to capture the object to be captured more reliably.

[0048] In this embodiment, in the gripping step S34 included in the joining step S3, the second link 32 is inserted into the annular opening O. ＴAfter inserting the second link 32 into the first link 31, the angle θ of the second link 32 relative to the first link 31 is set to an acute angle, so that the first link 31 and the second link 32 form the annular opening O. Ｔ 12, by setting the angle θ of the third link 33 relative to the second link 32 at an acute angle while maintaining the angle θ of the second link 32 relative to the first link 31 at an obtuse angle, the annular opening O is formed by the first link 31 and the third link 33. Ｔ In this method, the diameter of the conical part of the object to be captured is set to the annular opening O as shown in FIG. Ｔ This is effective when the value of the radii ...

[0049] The present invention is not limited to the above-described embodiments, and any design modifications made by a person skilled in the art to the embodiments as appropriate are also included within the scope of the present invention as long as they comprise the features of the present invention. In other words, the elements of the embodiments and their arrangement, materials, conditions, shape, size, etc. are not limited to those exemplified and can be modified as appropriate. Furthermore, the elements of the embodiments can be combined to the extent technically possible, and such combinations are also included within the scope of the present invention as long as they comprise the features of the present invention.

[0050] DESCRIPTION OF SYMBOLS 1... Capture system 2... Spacecraft 3... Robot arm 10... Support 20... Deployable rod 23... Axis (first axis) 30... Grasping mechanism 31... First link 32... Second link 33... Third link 34... Axis (third axis) 40... Buffer mechanism G... Guide structure O Ｔ ...Annular opening of object to be captured P...Virtual plane S2...Deployment process S3...Joining process S31...Abutment process S32...Insertion process S33...Centering process S34...Gripping process

Claims

1. A system for capturing an object to be captured in outer space, comprising: a support attached to a spacecraft moving in outer space; a plurality of deployable rods configured to be radially deployed from the support; and a gripping mechanism attached to each of the plurality of deployable rods and configured to couple to an annular opening of the object to be captured, wherein the gripping mechanism has: a first link that is rotatable about a first axis provided at the tip of each of the plurality of deployable rods and configured to be deployed to a position away from the support; and a second link that is rotatable about the first axis or a second axis disposed in the vicinity of the first axis and configured to change an angle relative to the first link.

2. A capture system as described in claim 1, wherein the gripping mechanism has a third link that is freely rotatable about a third axis provided at the tip of each of the second links and configured to change the angle relative to the second links.

3. A capture system as described in claim 1 or 2, wherein the support is attached to the spacecraft via a robot arm, and a shock absorbing mechanism is provided at the connection between the support and the robot arm or inside the robot arm.

4. A capture system as described in claim 1 or 2, wherein the plurality of deployable rods are provided in three or more numbers and are configured to radially deploy in different directions from the support.

5. A method for capturing an object to be captured in outer space using the capture system according to claim 1, comprising: a deployment step of radially deploying a plurality of deployable rods from a support of the capture system; and a coupling step of coupling a gripping mechanism attached to each of the plurality of deployable rods to the object to be captured, the coupling step including: a contact step of, when the spacecraft is brought close to the object to be captured, rotating each of the first links of the gripping mechanism about an axis provided at the tip of each of the plurality of deployable rods to deploy the first link to a position away from the support, thereby bringing the first link into contact with the annular opening of the object to be captured; an insertion step of, when bringing the first link into contact with the annular opening, inserting the second link into the annular opening by setting an angle of the second link of the gripping mechanism relative to the first link at an obtuse angle; and a gripping step of, after inserting the second link into the annular opening, sandwiching and gripping the annular opening between the first link and the second link by setting an angle of the second link relative to the first link at an acute angle. A capture method including:

6. The capturing method according to claim 5, wherein in the contacting step, each of the first links is rotated about the axis to be deployed to a position away from the support, thereby arranging them on the same imaginary plane.

7. A capture method as described in claim 5 or 6, wherein the coupling process includes a centering process of approximating the center position of the support to the center position of the annular opening of the capture object by using an approximately conical guide structure formed by each of the second links which are at an obtuse angle relative to the first link.

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