Apparatus for grasping objects in space

• US 7,207,525 B2
• Filed: 09/17/2004
• Issued: 04/24/2007
• Est. Priority Date: 09/17/2003
• Status: Expired due to Fees

• Current Assignee: Astrium GmbH (Airbus SE)
• Original Assignee: EADS Space Transportation GmbH (Airbus SE)
• Inventors: Kerstein, Lothar, Guenther, Hansjuergen, Foth, Peter, Bischof, Bernd, Starke, Juergen
• Primary Examiner(s): Collins; Timothy D.
• Application Number:
  US10/943,788
• Publication Number:
  US 20050103940A1
• Time in Patent Office: 949 Days
• Field of Search: 244/172.4, 244/172.5, 244/172.6, 244/173.3, 244/158.1, 244/158.2
• US Class Current: 244/172.6
• CPC Class Codes: B25J 15/10 with three or more finger members B25J15/0009 takes precedence
• CPC Class Codes: B25J 18/025 telescopic
• CPC Class Codes: B64G 1/1078 Maintenance satellites refuelling in space B64G1/4024
• CPC Class Codes: B64G 1/646 Docking or rendezvous systems refuelling in space B64G1/4024
• CPC Class Codes: B64G 1/6462 characterised by the means for engaging other vehicles
• CPC Class Codes: B64G 1/648 Tethers
• CPC Class Codes: B64G 4/00 Tools specially adapted for use in space

Abstract

A remotely controlled apparatus for grasping an object such as a satellite in space includes a free-flying grasper unit connected by a selectively extendable cable to an orbital platform. The orbital platform and the grasper unit are preferably each independently propelled by respective propulsion systems including multi-axis maneuvering nozzles respectively provided on the orbital platform and on the grasper unit. The grasper unit preferably includes a grasper unit body and a grasper-arm mechanism having a controllable grasping claw articulately mounted on the end of a controllable telescoping arm that extends from the grasper unit body. The grasper unit preferably further includes a camera and a distance measuring sensor to provide visual and distance feedback data for assisting the remotely controlled maneuvering of the grasper unit and actuation of the grasper-arm mechanism.

Claims

1. An apparatus for grasping a target object in space, comprising:

an orbital platform;

at least one free-flying grasper unit including a grasper unit body, a propulsion system with at least one propulsion nozzle mounted on said grasper unit body, and a grasper-arm mechanism arranged on said grasper unit body, wherein said grasper-arm mechanism is adapted to controlledly grasp the target object; and

a respective cable that respectively connects said free-flying grasper unit to said orbital platform;

wherein said cable includes a mechanical tension-transmitting cable element that extends between said orbital platform and said grasper unit, and insulated electrical conductor lines that extend between said orbital platform and said grasper unit and that are adapted to transmit electrical power and communication signals between said orbital platform and said grasper unit.

2. The apparatus according to claim 1, wherein said grasper-arm mechanism comprises an arm connected to and extending from said grasper unit body and a three-fingered grasping claw connected to a free distal end of said arm.

3. The apparatus according to claim 2, further comprising an articulated joint connecting said grasping claw to said free distal end of said arm.

4. The apparatus according to claim 2, wherein said arm is a telescoping arm that is selectively variably extendable from said grasper unit body.

5. The apparatus according to claim 2, wherein said arm is a fixed rigid arm that is fixedly connected to and immobile relative to said grasper unit body.

6. The apparatus according to claim 1, wherein said grasper unit further comprises a camera.

7. The apparatus according to claim 1, wherein said grasper unit further comprises a distance measuring sensor.

8. The apparatus according to claim 1, wherein said cable is selectively variably extendable to provide a selectable variable length of said cable between said orbital platform and said grasper unit.

9. The apparatus according to claim 8, wherein said orbital platform includes a controllably operable cable winch mounted on or in a platform body of said orbital platform, and wherein said cable is selectively wound-up on and unwound from said winch to provide said selectable variable length.

10. The apparatus according to claim 1, wherein said grasper unit remains permanently and continuously connected to said orbital platform by said cable.

11. The apparatus according to claim 1, wherein said orbital platform includes an independent propulsion system, and said propulsion system of said grasper unit enables said grasper unit to maneuver independently of said orbital platform within a range permitted by a length of said cable.

12. The apparatus according to claim 1, wherein said propulsion system comprises a cold gas propellant storage tank and plural thruster nozzles in a multi-axis maneuvering arrangement.

13. The apparatus according to claim 1, wherein said grasper unit further includes a docking and mounting cone protruding from said grasper unit body, and said orbital platform includes a recessed conical docking and mounting receptacle adapted to releasably receive said docking and mounting cone therein.

14. The apparatus according to claim 1, wherein said grasper unit further includes plural releasable mounting devices that are connected to said grasper unit body and that are adapted to releasably secure said grasper unit to said orbital platform.

15. The apparatus according to claim 1, comprising three of said free-flying grasper units respectively connected by three of said cables to said orbital platform.

18. The apparatus according to claim 11, wherein said electrical conductor lines are connected to said propulsion system, of said grasper unit and wherein said orbital platform further includes a remote control system connected to said electrical conductor lines and adapted to provide control signals as said communication signals from said orbital platform to said grasper unit for control of said propulsion system of said grasper unit.

16. An apparatus for grasping a target object in space, comprising:

an orbital platform including a platform body, a controllably operable winch mounted in or on said platform body, and a first propulsion system including first propulsion nozzles mounted on said platform body;

a free-flying grasper unit including a grasper unit body, a second propulsion system including second propulsion nozzles mounted on said grasper unit body, a camera, a distance measuring sensor, and a grasper-arm mechanism including an arm that is connected to and extends from said grasper unit body and a three-jawed grasping claw that is connected to a free distal end of said arm and is adapted to controlledly grasp the target object; and

a cable that is connected to said grasper unit, and that is connected to and selectively wound-up on and unwound front said cable winch of said orbital platform, and that includes a mechanical tension-transmitting cable element and insulated electrical conductor lines that extend between said orbital platform and said grasper unit and are adapted to transmit electrical power and communication signals between said orbital platform and at least one of said grasper-arm mechanism, said second propulsion system, said camera and said distance measuring sensor of said grasper unit.

17. A free-flying grasper unit for grasping a target object in space, comprising:

a grasper unit body,

a propulsion system including propulsion nozzles arranged in multi-axis clusters mounted on said grasper unit body,

a stereo camera arrangement mounted on said grasper unit body,

a laser distance measuring sensor mounted on said grasper unit body,

a grasper-arm mechanism including a telescoping arm that is connected to and selectively variably extends from said grasper unit body and a three-jawed grasping claw that is connected to a free distal end of said arm and is adapted to controlledly grasp the target object,

a cable mounting point including a mechanical connection point and an electrical connection point respectively adapted to have a mechanical cable and an electrical cable connected thereto, whereby said grasper unit is adapted to be mechanically and electrically connected to an orbital platform via the cables and to receive control signals from the orbital platform via the electrical cable and said electrical connection point to control at least one of said propulsion system or said grasper-arm mechanism, and

a plurality of mounting elements that extend from said grasper unit body opposite said grasper-arm mechanism and that are adapted to position and releasably mount Bald grasper unit relative to the orbital platform.