CA2473981A1 - Spacecraft docking mechanism - Google Patents
Spacecraft docking mechanism Download PDFInfo
- Publication number
- CA2473981A1 CA2473981A1 CA 2473981 CA2473981A CA2473981A1 CA 2473981 A1 CA2473981 A1 CA 2473981A1 CA 2473981 CA2473981 CA 2473981 CA 2473981 A CA2473981 A CA 2473981A CA 2473981 A1 CA2473981 A1 CA 2473981A1
- Authority
- CA
- Canada
- Prior art keywords
- berthing
- spacecraft
- docking mechanism
- probe
- mechanism according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003032 molecular docking Methods 0.000 title claims abstract 27
- 239000000523 sample Substances 0.000 claims abstract 25
- 239000007788 liquid Substances 0.000 claims abstract 3
- 230000008878 coupling Effects 0.000 claims 10
- 238000010168 coupling process Methods 0.000 claims 10
- 238000005859 coupling reaction Methods 0.000 claims 10
- 238000010521 absorption reaction Methods 0.000 claims 2
- 238000013016 damping Methods 0.000 claims 2
- 230000036316 preload Effects 0.000 abstract 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
- B64G1/1078—Maintenance satellites
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/40—Arrangements or adaptations of propulsion systems
- B64G1/401—Liquid propellant rocket engines
Abstract
The present invention provides a docking mechanism that is capable of interfacing with Apogee Boost Motors (ABM) including Liquid Apogee Motors (LAM) of the satellite being captured to allow a servicing spacecraft to doc k with a satellite that has no special docking features. The docking mechanism includes a compliant probe with spring-loaded fingers at its tip which is inserted in to the LAM by the approach motion of the servicer spacecraft. When the probe tip h as passed beyond the throat of the LAM the finger extend to trap the LAM on the probe thus achieving capture. The rigidization stage of docking is achieved by retracting the probe to pull the two spacecraft together. The docking mechanism includes abutment pads which interface with the launcher interface ring of t he client spacecraft. With the preload applied by the probe retraction mechanis m reacted through these pads, the docking mechanism can maintain a rigid docke d interface under loads induced by thrusting maneuvers of the combined spacecraft or loads induced by on-orbit servicing operations.
Claims (18)
1. A docking mechanism for capturing and coupling a target spacecraft to a servicing spacecraft, the target spacecraft having an Apogee Boost Motor (ABM) or Liquid Apogee Motor (LAM), comprising:
a support frame which is attachable to the servicing spacecraft, and at least one elongate berthing post having first and second ends, the berthing posts being attached to the frame at said first ends, the at least one berthing post including a berthing pad attached to the second end thereof for contacting the target spacecraft being docked with the servicing spacecraft;
a berthing mechanism attached to the support frame, the berthing mechanism including an extendable stage;
a compliance mechanism mounted on the extendable stage of the berthing mechanism;
a probe including an elongate flexible shaft having first and second ends, a probe head assembly attached to the first end of the longitudinal flexible shaft and the second end of the longitudinal flexible shaft being attached to an abutment plate, the abutment plate being attached to the compliance mechanism, the probe head assembly including fingers extendable laterally therefrom, the compliance mechanism providing kinetic energy absorption and damping of the docking mechanism during capture and coupling of the two spacecraft together for reducing overshooting and undershooting of the probe with respect to the apogee motor; and wherein during capture and coupling of the target spacecraft to the servicing spacecraft together the servicing spacecraft is positioned behind the thruster of an apogee rocket on the target spacecraft with the extendable stage in the fully extended position, and wherein the probe head assembly is extended into the thruster by movement of the servicing spacecraft and once it has been extended past a throat in the thruster, the fingers are deployed laterally therefrom and the extendable stage of the berthing mechanism is retracted until the berthing pads on the ends of berthing posts contact an interface ring on the target spacecraft.
a support frame which is attachable to the servicing spacecraft, and at least one elongate berthing post having first and second ends, the berthing posts being attached to the frame at said first ends, the at least one berthing post including a berthing pad attached to the second end thereof for contacting the target spacecraft being docked with the servicing spacecraft;
a berthing mechanism attached to the support frame, the berthing mechanism including an extendable stage;
a compliance mechanism mounted on the extendable stage of the berthing mechanism;
a probe including an elongate flexible shaft having first and second ends, a probe head assembly attached to the first end of the longitudinal flexible shaft and the second end of the longitudinal flexible shaft being attached to an abutment plate, the abutment plate being attached to the compliance mechanism, the probe head assembly including fingers extendable laterally therefrom, the compliance mechanism providing kinetic energy absorption and damping of the docking mechanism during capture and coupling of the two spacecraft together for reducing overshooting and undershooting of the probe with respect to the apogee motor; and wherein during capture and coupling of the target spacecraft to the servicing spacecraft together the servicing spacecraft is positioned behind the thruster of an apogee rocket on the target spacecraft with the extendable stage in the fully extended position, and wherein the probe head assembly is extended into the thruster by movement of the servicing spacecraft and once it has been extended past a throat in the thruster, the fingers are deployed laterally therefrom and the extendable stage of the berthing mechanism is retracted until the berthing pads on the ends of berthing posts contact an interface ring on the target spacecraft.
2. The docking mechanism according to claim 1 wherein the berthing mechanism includes a ball-screw actuated sliding stage.
3. The docking mechanism according to claim 1 or 2 wherein the probe head assembly includes a lanyard connected at one end thereof to the fingers for retracting the fingers during disengagement of the probe from the apogee motor, the other end of the lanyard being connected to a retraction mechanism connected to the support frame.
4. The docking mechanism according to claim 1, 2 or 3 wherein the berthing mechanism includes a motor connected to the extendable stage, a motor controller including a microprocessor and computer control instructions for controlling the probe during capture and disengagement of the servicing spacecraft from the target spacecraft.
5. The docking mechanism according to claim 1, 2, 3 or 4 wherein the compliance mechanism includes a linear guide and spring connected between the guide and the support frame.
6. The docking mechanism according to claim 1, 2, 3, 4 or 5 wherein said at least one elongate berthing post is three elongate berthing posts.
7. The docking mechanism according to claim 1, 2, 3, 4, 5 or 6 wherein the at least one berthing post includes proximity sensors mounted thereon for sensing a distance between the posts and the interface ring of the target spacecraft.
8. The docking mechanism according to claim 1, 2, 3, 4, 5, 6 or 7 wherein the at least one berthing post includes a camera mounted thereon for capturing images during capturing and coupling of the target spacecraft.
9. The docking mechanism according to claim 1, 2, 3, 4, 5, 6, 7 or 8 wherein the probe head assembly includes a camera mounted thereon for capturing images of the probe head assembly during capturing and coupling of the target spacecraft.
10. The docking mechanism according to claim 1, 2, 3, 4, 5, 6, 7, 8 or 9 including a flexible web member extending outwardly from the abutment plate and disposed around the elongate flexible shaft.
11. The docking mechanism according to claim 1, 2, 3, 4, 5, 6, 7, 8, 9 or 10 including a light mounted on the support frame for illuminating the apogee motor and target spacecraft.
12. The docking mechanism according to claim 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 or 11 including a laser rangefinder mounted on the support frame.
13. A docking mechanism for capturing and coupling a target spacecraft to a servicing spacecraft, the target spacecraft having an Apogee Boost Motor (ABM) or Liquid Apogee Motor (LAM), comprising:
a support frame which is attachable to the servicing spacecraft, and at least one elongate berthing post having first and second ends, the berthing posts being attached to the frame at said first ends, the at least one berthing post including a berthing pad attached to the second end thereof for contacting the target spacecraft being docked with the servicing spacecraft;
a berthing mechanism attached to the support frame, the berthing mechanism including an extendable stage and a motor connected to the extendable stage, a motor controller including a microprocessor and computer control instructions for controlling the probe during capture and disengagement of the servicing spacecraft from the target spacecraft;
a compliance mechanism mounted on the extendable stage of the berthing mechanism;
a probe including an elongate flexible shaft having first and second ends, a probe head assembly attached to the first end of the longitudinal flexible shaft and the second end of the longitudinal flexible shaft being attached to an abutment plate, the abutment plate being attached to the compliance mechanism, the probe head assembly including fingers extendable laterally therefrom, the compliance mechanism providing kinetic energy absorption and damping of the docking mechanism during capture and coupling of the two spacecraft together for reducing overshooting and undershooting of the probe with respect to the apogee motor; and wherein during capture and coupling of the target spacecraft to the servicing spacecraft together the servicing spacecraft is positioned behind the thruster of an apogee rocket on the target spacecraft with the extendable stage in the fully extended position, and wherein the probe head assembly is extended into the thruster by movement of the servicing spacecraft and once it has been extended past a throat in the thruster, the fingers are deployed laterally therefrom and the extendable stage of the berthing mechanism is retracted until the berthing pad on the ends of berthing posts contact an interface ring on the target spacecraft.
a support frame which is attachable to the servicing spacecraft, and at least one elongate berthing post having first and second ends, the berthing posts being attached to the frame at said first ends, the at least one berthing post including a berthing pad attached to the second end thereof for contacting the target spacecraft being docked with the servicing spacecraft;
a berthing mechanism attached to the support frame, the berthing mechanism including an extendable stage and a motor connected to the extendable stage, a motor controller including a microprocessor and computer control instructions for controlling the probe during capture and disengagement of the servicing spacecraft from the target spacecraft;
a compliance mechanism mounted on the extendable stage of the berthing mechanism;
a probe including an elongate flexible shaft having first and second ends, a probe head assembly attached to the first end of the longitudinal flexible shaft and the second end of the longitudinal flexible shaft being attached to an abutment plate, the abutment plate being attached to the compliance mechanism, the probe head assembly including fingers extendable laterally therefrom, the compliance mechanism providing kinetic energy absorption and damping of the docking mechanism during capture and coupling of the two spacecraft together for reducing overshooting and undershooting of the probe with respect to the apogee motor; and wherein during capture and coupling of the target spacecraft to the servicing spacecraft together the servicing spacecraft is positioned behind the thruster of an apogee rocket on the target spacecraft with the extendable stage in the fully extended position, and wherein the probe head assembly is extended into the thruster by movement of the servicing spacecraft and once it has been extended past a throat in the thruster, the fingers are deployed laterally therefrom and the extendable stage of the berthing mechanism is retracted until the berthing pad on the ends of berthing posts contact an interface ring on the target spacecraft.
14. The docking mechanism according to claim 13 wherein the at least one berthing post includes proximity sensors mounted thereon for sensing a distance between the posts and the interface ring of the target spacecraft.
15. The docking mechanism according to claim 13 or 14 wherein the at least one berthing post includes a camera mounted thereon for capturing images during capturing and coupling of the target spacecraft.
16. The docking mechanism according to claim 13, 14 or 15 wherein the probe head assembly includes a camera mounted thereon for capturing images of the probe head assembly during capturing and coupling of the target spacecraft.
17. The docking mechanism according to claim 13, 14, 15 or 16 wherein the probe head assembly includes a lanyard connected at one end thereof to the fingers for retracting the fingers during disengagement of the probe from the apogee motor, the other end of the lanyard being connected to a retraction mechanism connected to the support frame.
18. The docking mechanism according to claim 13, 14, 15, 16 or 17 including a laser rangefinder mounted on the support frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2473981A CA2473981C (en) | 2004-07-14 | 2004-07-14 | Spacecraft docking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2473981A CA2473981C (en) | 2004-07-14 | 2004-07-14 | Spacecraft docking mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2473981A1 true CA2473981A1 (en) | 2006-01-14 |
| CA2473981C CA2473981C (en) | 2012-11-27 |
Family
ID=35610394
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2473981A Active CA2473981C (en) | 2004-07-14 | 2004-07-14 | Spacecraft docking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2473981C (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013082719A1 (en) * | 2011-12-05 | 2013-06-13 | Macdonald Dettwiler & Associates Inc. | System and tool for accessing satellite fill/drain valves during propellant resupply |
| WO2014006478A3 (en) * | 2012-07-03 | 2014-03-13 | Epar Sp. Z O. O. | Spacecraft docking in planetary orbit |
| US9676096B2 (en) | 2011-10-13 | 2017-06-13 | Macdonald, Dettwiler And Associates Inc. | Robotic servicing multifunctional tool |
| CN113232896A (en) * | 2021-04-20 | 2021-08-10 | 南京航空航天大学 | Spacecraft docking mechanism collision plate |
| CN113939453A (en) * | 2019-06-12 | 2022-01-14 | 空中客车防务及航天股份有限公司 | Multiple clamping and separating device for spacecraft, method for removing spacecraft from dispenser of launcher, and method for mounting multiple clamping and separating device for spacecraft |
| CN116812178A (en) * | 2023-05-06 | 2023-09-29 | 四川大学 | Space target capturing device with high applicability |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019051423A1 (en) * | 2017-09-10 | 2019-03-14 | Orbit Fab, Inc. | Systems and methods for delivering, storing, and processing materials in space |
-
2004
- 2004-07-14 CA CA2473981A patent/CA2473981C/en active Active
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9676096B2 (en) | 2011-10-13 | 2017-06-13 | Macdonald, Dettwiler And Associates Inc. | Robotic servicing multifunctional tool |
| US10005180B2 (en) | 2011-10-13 | 2018-06-26 | Macdonald, Dettwiler And Associates Inc. | Robotic servicing multifunctional tool |
| US9950424B2 (en) | 2011-10-13 | 2018-04-24 | Macdonald, Dettwiler And Associates Inc. | Robotic servicing multifunctional tool |
| US9688422B2 (en) | 2011-12-05 | 2017-06-27 | Macdonald, Dettwiler And Associates Inc. | System and tool for accessing satellite fill/drain valves during propellant resupply |
| US9567111B2 (en) | 2011-12-05 | 2017-02-14 | Macdonald, Dettwiler And Associates | System and tool for accessing satellite fill/drain valves during propellant resupply |
| US9108747B2 (en) | 2011-12-05 | 2015-08-18 | Macdonald, Dettwiler And Associates Inc. | Tool for accessing satellite fill/drain valves during propellant resupply |
| WO2013082719A1 (en) * | 2011-12-05 | 2013-06-13 | Macdonald Dettwiler & Associates Inc. | System and tool for accessing satellite fill/drain valves during propellant resupply |
| JP2015500159A (en) * | 2011-12-05 | 2015-01-05 | マクドナルド デットワイラー アンド アソシエイツ インコーポレーテッド | Systems and tools for accessing satellite fill / discharge valves during propellant replenishment |
| WO2014006478A3 (en) * | 2012-07-03 | 2014-03-13 | Epar Sp. Z O. O. | Spacecraft docking in planetary orbit |
| CN113939453A (en) * | 2019-06-12 | 2022-01-14 | 空中客车防务及航天股份有限公司 | Multiple clamping and separating device for spacecraft, method for removing spacecraft from dispenser of launcher, and method for mounting multiple clamping and separating device for spacecraft |
| CN113232896A (en) * | 2021-04-20 | 2021-08-10 | 南京航空航天大学 | Spacecraft docking mechanism collision plate |
| CN113232896B (en) * | 2021-04-20 | 2022-03-29 | 南京航空航天大学 | Spacecraft docking mechanism collision plate |
| CN116812178A (en) * | 2023-05-06 | 2023-09-29 | 四川大学 | Space target capturing device with high applicability |
Also Published As
| Publication number | Publication date |
|---|---|
| CA2473981C (en) | 2012-11-27 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request |