Tethered Spacecraft Robot for Autonomous Debris Servicing

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Solution Overview

Problem

Existing space debris retrieval and spacecraft inspection methods face challenges due to communication delays and potential damage to satellites during the grasping process, which can lead to further debris creation and equipment damage.

Innovation Solution

A tethered robot system that includes imagers, an inertial measurement unit, and thrusters, allowing for autonomous inspection and manipulation of spacecraft components without ground control commands, minimizing the risk of damage by maintaining a safe distance and using low mass and momentum.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a free-flying grasper unit is used to grasp target objects in space, then the ability to retrieve space debris and service satellites is improved, but the risk of damaging the target object and creating additional debris due to communication delays and loss of control increases

Engineering Contradiction:

Improveability to retrieve space debris and service satellitesVSAvoidrisk of damaging target object

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

A lightweight robotic grasper unit is deployed as an intermediary between the satellite and the operator. This intermediary can be precisely controlled and retrieved, reducing the risk of damage compared to deploying a heavy spacecraft. The grasper unit serves as a mediator that can approach, inspect, and manipulate target objects without the complications of heavy spacecraft deployment and retrieval

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The system segments the grasper function from the main spacecraft, creating a separate, lightweight robotic unit. This segmentation allows the grasper to be independently controlled and retrieved, reducing the risk to both the target satellite and the main spacecraft. The grasper unit can be deployed and recovered separately, minimizing potential damage scenarios

Inventive Principle:

Principle #1Segmentation

2Ease of operation

If ground control commands are used to control the grasper unit, then operational flexibility is improved, but communication delays and interruptions cause control failures and potential damage

Engineering Contradiction:

Improveoperational flexibilityVSAvoidcontrol failure due to communication delays

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The grasper unit is equipped with autonomous navigation and control capabilities, allowing it to service satellites and retrieve debris without continuous ground control intervention. The unit can independently navigate to targets, execute maneuvers, and return to the spacecraft, making the system self-sufficient and immune to communication delays

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The grasper unit is pre-programmed with navigation algorithms and control sequences that enable it to autonomously perform tasks. By preparing the unit with pre-loaded instructions and autonomous capabilities before deployment, the system eliminates the need for real-time ground control commands during critical operations

Inventive Principle:

Principle #10Preliminary action

3Strength

If a heavy spacecraft is used for debris retrieval, then the grasping capability and structural strength are improved, but the momentum and risk of collision damage increase

Engineering Contradiction:

Improvegrasping capabilityVSAvoidcollision damage risk

Core Design Contradiction:

StrengthVSObject-affected harmful factors

Solution Approach 1:

The grasper function is segmented from the main spacecraft into a lightweight robotic unit. This segmentation provides sufficient grasping capability for the task while dramatically reducing the momentum and collision risk. The lightweight unit can be precisely controlled and easily retrieved, minimizing harmful effects

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

A lightweight robotic grasper unit serves as an intermediary that provides adequate grasping capability without the excessive momentum of a heavy spacecraft. This intermediary can manipulate debris and satellites with precision while minimizing collision damage risk due to its low mass

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentUS9944412B2Spacecraft system for debris disposal and other operations and methods pertaining to the same

Publication Date: 2018.04.17 BUSEK CO INC

AI summary

A spacecraft system and method includes a platform with a dock and an umbilical payout device. A robot is connected to an umbilical paid out by the umbilical payout device and is repeatedly deployable from the dock. The robot includes one or more imagers, an inertial measurement unit, and a plurality of thrusters. A command module receives image data from the one or more robot imagers and orientation data from the inertial measurement unit. An object recognition module is configured to recognize one or more objects from the received image data. The command module determines the robot's orientation with respect to an object and issues thruster control commands to control movement of the robot based on the robot's orientation. The combination of the space platform and robot on umbilical line can be used for towing another object to different orbital location, inspection including self-inspection of the robot carrying platform and for robotic servicing.