Multi-Armed Soft Capture System for Space Objects
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Solution Overview
Problem
Current on-orbit operations for satellite servicing in space are inefficient and risky due to the need for complex attitude control systems and mechanical contact methods, which are not effective for grasping spinning or nutating objects, and lack flexibility for various geometries and sizes.
Innovation Solution
A multi-armed robotic capture device with a base, tether, and tentacles equipped with electrostatic and gecko-like adhesive tiles, allowing for compliant and controlled grasping of objects in space, using a combination of electrostatic and gecko adhesion technologies to apply shear forces for secure grip and flexible movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional mechanical contact methods are used for satellite servicing, then control and compliance can be provided, but the system becomes complex and cannot effectively grasp spinning or nutating objects
Solution Approach 1:
The patent replaces traditional mechanical contact-based grasping systems with an adhesive-based soft robotic system. The adhesive tiles on the tentacles create compliance and control through material properties rather than mechanical joints, eliminating the need for complex attitude control systems while maintaining grasping capability for spinning and nutating objects
Solution Approach 2:
The patent changes the fundamental parameter of compliance from being mechanically assigned to robotic arms to being inherently embedded in the soft adhesive material itself. This allows the system to adapt to rotating and nutating targets without requiring complex control mechanisms, as the soft material naturally provides compliance
2Reliability
If robotic arms with compliance are used for grasping, then control can be maintained, but the mass of the robotic arm increases
Solution Approach 1:
The patent substitutes mechanical compliance mechanisms (robotic arms with joints and actuators) with a soft robotic system where compliance is inherent in the adhesive material and tentacle structure. This eliminates heavy mechanical components while maintaining control capability through the soft material's natural properties
Solution Approach 2:
The patent uses flexible tentacles with adhesive tiles instead of rigid robotic arms. The flexible structure provides necessary compliance for controlling grasping on rotating targets without requiring heavy mechanical components, significantly reducing the mass of the moving object
3Adaptability or versatility
If traditional docking systems are used, then mechanical contact can be established, but the system lacks flexibility for various geometries and sizes
Solution Approach 1:
The patent divides the grasping surface into multiple independent adhesive tiles on flexible tentacles. This segmentation allows each tile to independently conform to different surface geometries and sizes, providing adaptability while the collective arrangement maintains stable contact through distributed adhesion forces
Solution Approach 2:
The patent employs dynamically flexible tentacles that can change their configuration and conform to various target geometries. This dynamic flexibility allows the system to adapt to different object sizes and shapes while maintaining reliable contact through the adhesive properties of the tiles
4Reliability
If compliant robotic arms are used for grasping spinning objects, then control can be maintained, but the torque and stress on joints increases the overall mass
Solution Approach 1:
The patent replaces mechanical joint-based compliance with inherent material compliance in the soft adhesive tiles and flexible tentacles. This substitution eliminates the need for heavy robotic arms with torque-capable joints, reducing mass while maintaining control during grasping of spinning objects through the soft material's natural compliance
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
Enables safe and efficient capture of cooperative and non-cooperative space objects, reducing the risk of collision and fuel consumption, and allowing for flexible grasping of diverse objects without pre-existing docking interfaces, by providing a dynamic, flexible grip capable of accommodating various geometries and orientations.
Implementation Method 1
A plurality of tiles positioned on each tentacle of the plurality of tentacles and configured to apply a shear force on the target object to grip the target object using an adhesive force
Implementation Method 2
using a combination of electrostatic and gecko adhesion technologies to apply shear forces for secure grip
Data Source
AI summary
Systems and methods for multi-armed robotic capture devices are disclosed. The systems and methods for multi-armed robotic capture devices include a base that is configured to attach to a robotic arm or a servicer and having a tether. The systems and methods for multi-armed robotic capture devices include a body that is coupled to the base via the tether. Additionally, the systems and methods for multi-armed robotic capture devices include a plurality of tentacles coupled to the body and configured to grip a target object. The systems and methods for multi-armed robotic capture devices also include a plurality of tiles positioned on each tentacle of the plurality of tentacles and configured to apply a shear force on the target object to grip the target object using an adhesive force.