The present invention provides a capture mechanism for capturing and locking onto the Marman flange located on the exterior surfaces of spacecraft/satellites. The capture mechanism achieves its goal of quickly capturing a client spacecraft by splitting the two basic actions involved into two separat
The present invention provides a capture mechanism for capturing and locking onto the Marman flange located on the exterior surfaces of spacecraft/satellites. The capture mechanism achieves its goal of quickly capturing a client spacecraft by splitting the two basic actions involved into two separate mechanisms. One mechanism performs the quick grasp of the target while the other mechanism rigidises that grasp to ensure that the target is held as firmly as desired.
대표청구항▼
1. A system for capturing a capture feature on a free flying spacecraft, comprising: a capture mechanism including i) a quick grasp mechanism mounted for movement in a housing, said quick grasp mechanism including at least two spaced pairs of grasping jaws and a closing/opening mechanism connected t
1. A system for capturing a capture feature on a free flying spacecraft, comprising: a capture mechanism including i) a quick grasp mechanism mounted for movement in a housing, said quick grasp mechanism including at least two spaced pairs of grasping jaws and a closing/opening mechanism connected to said at least two pairs of grasping jaws for closing/opening each pair of grasping jaws, said quick grasp mechanism being configured for forcing said at least two spaced pairs of grasping jaws together around said capture feature to grasp the capture feature;ii) said at least two pairs of grasping jaws including structural features configured to accommodate local variations in size and shape of the capture feature at at least two locations on the capture feature being grasped by said at least two pairs grasping jaws; andii) a rigidizing mechanism including a rigidizing contact feature, said rigidizing mechanism being configured to force said at least two spaced grasping jaws further together to a closed position and at the same time driving said rigidizing contact feature into contact with said capture feature within said at least two grasping jaws to secure said capture feature within said closed grasping jaws between said rigidizing contact and said closed grasping jaws, to rigidize the capture feature and the spacecraft. 2. The system according to claim 1, wherein said rigidizing contact feature is a reciprocally moveable member, wherein said rigidizing mechanism includes a pair of cam followers with each cam follower engaging a cam surface integral to each associated grasping jaw, an actuator connected to said reciprocally moveable member, and as said reciprocally moveable member is driven forward by said actuator, said pair of cam followers drive the grasping jaws closed and drives said reciprocally moveable member forward into contact with the capture feature. 3. The system according to claim 1, including a sensor associated with said quick grasp mechanism configured to trigger said quick grasp mechanism to close said at least two pairs of grasping jaws when it senses the capture feature at a predetermined location with respect to said quick grasp mechanism. 4. The system according to claim 1, including positioning mechanisms operably connected to each of said at least two pairs of grasping jaws configured to vary a pose of each pair of grasping jaws with respect to said capture feature being grasped prior to being grasped. 5. The system according to claim 4, wherein said quick grasp mechanism is configured for positioning each pair of grasping jaws independently of all other pairs of grasping jaws. 6. The system according to claim 4 wherein at least one grasping jaw of each pair of grasping jaws has one or more distal end portions which are flexibly mounted to a remainder of the at least one grasping jaw, and are shaped to accept a range of capture feature shape profiles. 7. The system according to claim 1 wherein at least one grasping jaw of each pair of grasping jaws has one or more distal end portions which are flexibly mounted to a remainder of the at least one grasping jaw, and are shaped to accept a range of capture feature shape profiles. 8. The system according to claim 1 wherein at least one grasping jaw of each pair of grasping jaws has a distal end locking portion which is flexibly mounted to a remainder of said at least one grasping jaw and includes a cam surface which when in contact with an associated cam follower is forced into a locking position to lock the feature within the grasping jaws. 9. The system according to claim 1 including an optical-based initiator for activating said closing/opening mechanism, and wherein said optical-based initiator includes at least one light source and a light detector for detecting a beam of light from said at least one light source, said light detector being spaced from said light source with the light source and light detector being located in positions with respect to said at least two pairs of grasping jaws such that when the capture feature breaks the beam of light said closing/opening mechanism is activated to close each pair of grasping jaws towards each other. 10. The system according to claim 1 including a mechanical initiator, said mechanical initiator for activating said closing/opening mechanism, said mechanical initiator including at least one mechanical initiator feature located with respect to said at least two pairs of grasping jaws such that when the capture feature physically contacts said mechanical initiator feature, said opening/closing mechanism is activated. 11. The system according to claim 1, further comprising a) a positioning mechanism releasably attachable to the capture mechanism capable of positioning the capture mechanism into close proximity to the capture feature to trigger the quick grasp mechanism; andb) a sensing system for ascertaining a relative position of the capture mechanism with respect to the capture feature. 12. The system according to claim 11 including a computer control system connected to said sensing system and said positioning mechanism and programmed to position the capture mechanism in close proximity to said capture feature to trigger said quick grasp mechanism. 13. The system according to claim 12 wherein said computer control system is further programmed to control the actions of said quick grasp and ridigizing mechanisms. 14. The system according to claim 12 including a second computer control system programmed to control the actions of said quick grasp and ridigizing mechanisms. 15. The system according to claim 12 further comprising a communication system configured to provide communication between a remote command and control system and said computer control system. 16. The system according to claim 15 wherein said sensing system includes a vision system mounted and configured to provide real time images of all capture and release operations, said vision system being connected to said communication system for transmitting said images to a teleoperator during teleoperation. 17. The system according to claim 14 wherein said sensing system includes a vision system mounted and configured to provide real time images of all feature capture operations, said vision system being connected to said communication system for transmitting said images to said computer control system and being configured to be used in an autonomous control system. 18. A servicer satellite for capturing a capture feature on a free flying client satellite, comprising: a) propulsion and guidance systems;b) a capture mechanism, the capture mechanism comprising ii) said at least two pairs of grasping jaws including structural features configured to accommodate local variations in size and shape of the capture feature at at least two locations on the capture feature being grasped by said at least two pairs grasping jaws; andii) a rigidizing mechanism including a rigidizing contact feature, said rigidizing mechanism being configured to force said at least two spaced grasping jaws further together to a closed position and at the same time driving said rigidizing contact feature into contact with said capture feature within said at least two grasping jaws to secure said capture feature within said closed grasping jaws between said rigidizing contact and said closed grasping jaws, to rigidize the capture feature and the spacecraftc) a positioning mechanism releasably attached to the capture mechanism capable of positioning the capture mechanism to a desired proximity to the capture feature to trigger the quick grasp mechanism;d) a sensing system for ascertaining a relative position of the capture mechanism and the capture feature; ande) a communication system configured to provide communication between a command and control system and a remote operator for remote teleoperator control, supervised autonomous control, or fully autonomous control of all servicer satellite operations and operation of said capture mechanism between the servicer spacecraft and the client satellite. 19. The servicer satellite according to claim 18 wherein said command and control system includes a computer control system connected to said sensing system and said positioning mechanism and programmed to position the capture mechanism in a desired proximity to said capture feature to trigger said quick grasp mechanism. 20. The servicer satellite according to claim 18, wherein said rigidizing contact feature is a reciprocally moveable member, wherein said rigidizing mechanism includes a pair of cam followers with each cam follower engaging a cam surface integral to each associated grasping jaw, an actuator connected to said reciprocally moveable member, and as said reciprocally moveable member is driven forward by said actuator, said pair of cam followers drive the grasping jaws closed and drives said reciprocally moveable member forward into contact with the capture feature. 21. The servicer satellite according to claim 18, including a sensor associated with said quick grasp mechanism configured to trigger said quick grasp mechanism to close said at least two pairs of grasping jaws when it senses the capture feature at a predetermined location with respect to said quick grasp mechanism. 22. The servicer satellite according to claim 18, including positioning mechanisms operably connected to each of said at least two pairs of grasping jaws configured to vary a pose of each pair of grasping jaws with respect to said capture feature being grasped prior to being grasped. 23. The servicer satellite according to claim 22, wherein said quick grasp mechanism is configured for positioning each pair of grasping jaws independently of all other pairs of grasping jaws. 24. The servicer satellite according to claim 22 wherein at least one grasping jaw of each pair of grasping jaws has one or more distal end portions which are flexibly mounted to a remainder of the at least one grasping jaw, and are shaped to accept a range of capture feature shape profiles. 25. The servicer satellite according to claim 18 wherein at least one grasping jaw of each pair of grasping jaws has one or more distal end portions which are flexibly mounted to a remainder of the at least one grasping jaw, and are shaped to accept a range of capture feature shape profiles. 26. The servicer satellite according to claim 18 wherein at least one grasping jaw of each pair of grasping jaws has a distal end locking portion which is flexibly mounted to a remainder of said at least one grasping jaw and includes a cam surface which when in contact with an associated cam follower is forced into a locking position to lock the feature within the grasping jaws. 27. The servicer satellite according to claim 18 including an optical-based initiator for activating said closing/opening mechanism, and wherein said optical-based initiator includes at least one light source and a light detector for detecting a beam of light from said at least one light source, said light detector being spaced from said light source with the light source and light detector being located in positions with respect to said at least two pairs of grasping jaws such that when the capture feature breaks the beam of light said closing/opening mechanism is activated to close each pair of grasping jaws towards each other. 28. The servicer satellite according to claim 18 including a mechanical initiator, said mechanical initiator including at least one mechanical initiator feature located with respect to said at least two pairs of grasping jaws such that when the capture feature physically contacts said mechanical initiator feature whereby said opening/closing mechanism is activated. 29. A capture mechanism for capturing a capture feature on a free flying spacecraft, comprising: i) a quick grasp mechanism mounted for movement in a housing, said quick grasp mechanism including a pair of opposed grasping jaws configured to be sprung closed and a closing/closing mechanism connected to said opposed grasping jaws for closing/opening said pair of grasping jaws, said quick grasp mechanism being configured for forcing said pair of grasping jaws together around said capture feature to grasp the capture feature;ii) at least one grasping jaw of said pair of grasping jaws including one or more distal end portions which are flexibly mounted to a remainder of the at least one grasping jaw, and are shaped and sized to accept and grasp a predetermined range of capture feature shape profiles;iii) a rigidizing mechanism independently actuated from said quick grasp mechanism, said rigidizing mechanism including a rigidizing contact feature, said rigidizing mechanism being configured to force said pair of grasping jaws further together to a closed position and at the same time driving said rigidizing contact feature into contact with said capture feature within said at least two grasping jaws to secure said capture feature within said closed grasping jaws between said rigidizing contact and said closed grasping jaws, to rigidize the capture feature and the spacecraft. 30. The capture mechanism according to claim 28 wherein at least one grasping jaw of said pair of grasping jaws has a distal end locking portion which is flexibly mounted to a remainder of said at least one grasping jaw and includes a cam surface which when in contact with an associated cam follower is forced into a locking position to lock the feature within the grasping jaws. 31. A method for capturing a capture feature on a free flying spacecraft, comprising: a) maneuvering a servicer satellite in proximity to a free flying spacecraft;b) positioning a capture mechanism mounted on the servicer satellite into proximity to a capture feature located on the free flying spacecraft, the capture mechanism including i) a quick grasp mechanism mounted for movement in a housing, said quick grasp mechanism including at least two spaced pairs of grasping jaws and a closing/closing mechanism connected to said at least two pairs of grasping jaws for closing/opening each pair of grasping jaws, said quick grasp mechanism being configured for forcing said at least two spaced grasping jaws together around said capture feature to grasp the capture feature;ii) said at least two pairs of grasping jaws including structural features configured to accommodate local variations in size and shape of the capture feature at at least two locations on the capture feature being grasped by said at least two pairs grasping jaws; andii) a rigidizing mechanism including a rigidizing contact feature, said rigidizing mechanism being configured to force said at least two spaced grasping jaws further together to a closed position and at the same time driving said rigidizing contact feature into contact with said capture feature within said at least two grasping jaws to secure said capture feature within said closed grasping jaws between said rigidizing contact and said closed grasping jaws, to rigidize the capture feature and the spacecraft;c) once the capture mechanism is in proximity to said capture feature, advancing the capture mechanism until quick grasp mechanism is in position and triggering the quick grasp mechanism to close said at least two pairs of grasping jaws to soft capture the capture feature, activating the rigidizing mechanism to rigidize the capture feature and the free flying spacecraft; andd) after servicing the free flying spacecraft, disengaging the capture mechanism from the capture feature and maneuvering a servicer satellite away from the free flying spacecraft. 32. The method according to claim 31 wherein the step of triggering the quick grasp mechanism to close said at least two pairs of grasping jaws is initiated using an initiator built into said capture mechanism. 33. The method according to claim 32 wherein the initiator is an optically based initiator, and wherein said optical-based initiator includes at least one light source and a light detector for detecting a beam of light from said at least one light source, said light detector being spaced from said light source with the light source and light detector being located in positions with respect to said at least two pairs of grasping jaws such that when the capture feature breaks the beam of light said closing/opening mechanism is activated to close each pair of grasping jaws towards each other. 34. The method according to claim 32 wherein the initiator is a mechanically based initiator, said mechanically based initiator including at least one mechanical initiator feature located with respect to said at least two pairs of grasping jaws such that when the capture feature physically contacts said mechanical initiator feature, said opening/closing mechanism is activated. 35. The method according to claim 31 wherein the step of triggering the quick grasp mechanism to close said at least two pairs of grasping jaws is initiated remotely by an operator controlling capture operations.
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이 특허에 인용된 특허 (19)
Gurevich, Leon, Adjustable multipoint docking system.
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Frosch Robert A. Administrator of the National Aeronautics and Space Administration ; with respect to an invention of ( Pasadena CA) Bejczy Antal K. (Pasadena CA), Terminal guidance sensor system.
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