Nested Articulated Arms for Compact Space Object Capture

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Solution Overview

Problem

Existing capture systems for space objects are bulky, inflexible, and inefficient in stowed configurations, limiting their ability to adapt to the shape of target objects and occupying valuable space on spacecraft, which hinders effective recovery or deorbiting missions.

Innovation Solution

A capture system with articulated arms that can be deployed from a stowed to a deployed configuration, featuring nested articulated arm segments with pivoting joints, allowing for compact storage and flexible deployment, and incorporating shock-absorbing elements to facilitate secure capture of space objects.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If multiple articulated arms are mechanically coupled to a common pressure element, then the capture system can grip the space object, but the mechanical configuration restricts the ability to position the articulated arms in a compact manner during launch

Engineering Contradiction:

Improvecapture capabilityVSAvoidstowed volume

Core Design Contradiction:

Ease of operationVSVolume of moving object

Solution Approach 1:

The articulated arm segments are designed to be nestable within each other when in the stowed configuration. Each arm comprises multiple segments that can be inserted into one another like nested dolls, significantly reducing the volume occupied during launch while maintaining the full articulated arm structure for capture operations

Inventive Principle:

Principle #7Nested doll (Nesting)

Solution Approach 2:

Each articulated arm is divided into multiple segments that can be independently positioned and nested. This segmentation allows the arms to be compacted into a small volume for launch while still providing the flexibility and reach needed for capture operations once deployed

Inventive Principle:

Principle #1Segmentation

2Productivity

If all articulated arms are moved simultaneously from open to close configuration, then the capture system can capture the space object, but the system has no ability to actively adapt to the actual shape of the target space object

Engineering Contradiction:

Improvecapture speedVSAvoidshape adaptation capability

Core Design Contradiction:

ProductivityVSAdaptability or versatility

Solution Approach 1:

The capture system employs independent actuators for each articulated arm segment, allowing dynamic and independent control of each arm's position and movement. This enables the system to adapt its configuration to match the shape and geometry of different target objects, rather than forcing all arms to move in unison

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system can independently adjust parameters such as arm length, segment angles, and gripping force for each articulated arm. This parameter independence allows the capture system to adapt to various target shapes and sizes by modifying the configuration of individual arms rather than relying on simultaneous movement of all arms

Inventive Principle:

Principle #35Parameter changes

3Device complexity

If a common pressure element is used to couple the articulated arms, then the structure is simplified, but the pressure element takes a substantial portion of the frontal surface area of the service spacecraft

Engineering Contradiction:

Improvemechanical configuration simplicityVSAvoidfrontal surface area

Core Design Contradiction:

Device complexityVSArea of stationary object

Solution Approach 1:

The common pressure element is replaced by distributing the coupling function across multiple independent mounting points on the spacecraft body. This extraction of the centralized pressure element eliminates the need for a large frontal surface component, freeing up space for sensor systems while maintaining structural support for the articulated arms

Inventive Principle:

Principle #2Taking out (Extraction)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

The system achieves a compact, lightweight, and robust design that can efficiently capture and deorbit space objects while minimizing interference with spacecraft systems, enhancing mission flexibility and adaptability.

Implementation Method 1

at least one of the articulated arm segments is provided with a shock-absorbing element configured to come in contact with the space object to be captured

Methodology Applied

Scientific EffectShock absorption: Damping

Data Source

PatentUS20230415923A1Capture system adapted to capture space objects, in particular for recovery or deorbiting purposes

Publication Date: 2023.12.28 CLEARSPACE SA

AI summary

A capture system adapted to capture a target space object, including a plurality of articulated arms configured to be deployable from a stowed configuration to a deployed configuration to perform capture of the target space object. Each articulated arm includes a plurality of articulated arm segments including a first articulated arm segment coupled at a proximal end to a spacecraft or to a platform deployable from the spacecraft via a first pivoting joint and at least a second articulated arm segment coupled at a proximal end to a distal end of the first articulated arm segment via a second pivoting joint. In one aspect of the capture system, the plurality of articulated arm segments are nestable one within the other, in the stowed configuration, such that the first and second articulated arm segments are intertwined.