Spacecraft Servicing Gripper with Nested Debris Containment
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Solution Overview
Problem
Current spacecraft systems face challenges in accessing and servicing satellites due to obstructing structures like solar panels, which require removal before servicing, and must avoid generating new debris by not leaving structural parts free during operations.
Innovation Solution
A spacecraft with a manipulator and a device featuring two grippers that can pivot relative to each other, a tool holder, and an interface for attachment to the manipulator, allowing for gripping, holding, and servicing of structures while preventing accidental release of parts, enabling safe removal and storage of structural parts and performing refueling or repairs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If solar panels and other protruding structures are removed to access satellite components for servicing, then access to launch adapters and tank connections is improved, but the risk of generating new space debris increases
Solution Approach 1:
The device nests multiple functional elements within a compact structure. The grippers can contain and secure removed structural parts within their own volume, effectively nesting the captured debris inside the gripping mechanism itself, preventing it from becoming free-floating space debris
Solution Approach 2:
Instead of discarding removed solar panels and structural parts as waste, the device recovers them by securing them within the grippers. The removed parts are held in a controlled manner, allowing for potential reuse or safe disposal without becoming uncontrolled debris
2Device complexity
If a single manipulator is used for both gripping and servicing operations, then device complexity is reduced, but the ability to perform complex operations simultaneously is limited
Solution Approach 1:
The device combines multiple functions into a single integrated unit. The grippers are designed to not only grasp satellite components but also to hold and position removed structural parts, effectively making the gripping mechanism multi-functional for both manipulation and debris management
Solution Approach 2:
The device merges the gripping function with the debris containment function into a single integrated system. The tool holder and gripper mechanism are combined, allowing simultaneous execution of gripping operations and secure storage of removed parts without requiring separate dedicated systems
3Reliability
If grippers are designed to be always active and powered to maintain grip, then gripping reliability is improved, but energy consumption increases
Solution Approach 1:
The spring element provides beforehand cushioning by maintaining constant prestressing force on the gripping elements. This mechanical pre-loading ensures that the grippers remain engaged with the satellite structure without requiring continuous active power, as the spring force passively maintains the gripping pressure
Solution Approach 2:
The gripper mechanism serves itself by using the spring element to automatically maintain gripping force. The system is self-regulating through the mechanical spring pressure, eliminating the need for continuous external energy input to maintain the grip, as long as the basic actuation force is applied
Data Source
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AI summary
Disclosed are a device for machining a structure with an interface for attachment to, in particular, a single-armed robot, wherein the tool combines both gripping and servicing functions and for this purpose has at least two grippers for gripping the structure to be machined and at least one tool holder arranged between the grippers, as well as a spacecraft with such a device.