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.

A multi-armed robotic translation device includes a robotic body that includes a base section and a cover section attached to the base section. A plurality of tentacles is attached to the robotic body. The plurality of tentacles are configured to apply a shear force on the target object to grip the target object using an adhesive force, each tentacle including at least one shape memory alloy wire configured to move the tentacle. A control system is positioned in the robotic body and is configured to provide power and/or control signals to the tentacles.

A spacecraft servicing system to provide in-orbit servicing through the umbilical connectors of a spacecraft. In one embodiment, a manipulator arm maneuvers a servicer umbilical to form an electrical connection between a servicer spacecraft and an umbilical connector of a client spacecraft, the umbilical connector conventionally used solely for ground-based operations. In one feature, the electrical connection is used to provide power or software upgrades to the client spacecraft.

Provided herein are various enhancements to spacecraft or other vehicles, including spacecraft docking mechanisms and vehicle mating systems. In one example, a vehicle mating mechanism includes a latch assembly of a vehicle having soft capture elements and hard capture elements. The soft capture elements accept a bar element of a mating vehicle and retain the bar element to within an envelope that provides a soft capture with the mating vehicle. The hard capture elements move within the envelope to engage the bar element and draw the bar element toward the vehicle to provide a hard capture with the mating vehicle. The vehicle mating mechanism can also include a cup-cone interface element of the vehicle that mates with a cup-cone interface element of the mating vehicle during the hard capture to establish an alignment between the vehicle and the mating vehicle.

A robotic platform for traversing and manipulating a modular 3D lattice structure is described. The robot is designed specifically for its tasks within a structured environment, and is simplified in terms of its numbers of degrees of freedom (DOF). This allows for simpler controls and a reduction of mass and cost. Designing the robot relative to the environment in which it operates results in a specific type of robot called a “relative robot”. Depending on the task and environment, there can be a number of relative robots. This invention describes a bipedal robot which can locomote across a periodic lattice structure made of building block parts. The robot is able to handle, manipulate, and transport these blocks when there is more than one robot. Based on a general inchworm design, the robot has added functionality while retaining minimal complexity, and can perform numerous maneuvers for increased speed, reach, and placement.

End effectors and systems may capture, release, and/or create a mating engagement between the end effector and a target object. Said end effectors are tolerant of positional and rotational misalignment of the target object, and include a plurality of roller wheels, one or more of which is arranged in a non-parallel plane with respect to one or more other roller wheels. A first roller wheel configured to rotate in a first plane, a second roller wheel configured to rotate in a second plane, and a third roller wheel configured to rotate in a third plane may be arranged such that the end effector is configured to engage a passive receptacle of the target object, to capture the target object. Rotating the roller wheels in the opposite direction may cause the target object to be released or launched, by urging the passive receptacle off of or away from the roller wheels.

An enclosed volume is provided for performing operations in space, or on any astronomical object, in a manner separated from aspects of the external environment. The enclosed volume can be a flexible container for a satellite. The enclosed volume can include a membrane having a fluid barrier layer and being configured to contain a propellant gas or fluid; and an expulsion device configured to expel material from the membrane. In a stowed configuration, the flexible container is contained within the satellite, and in a deployed configuration, the flexible container extends away from the satellite. The flexible container can inflate from one shape, in the undeployed configuration, to another shape, in a deployed configuration. The other shape can be toroidal or other appropriate shapes. The flexible container can provide bipropellant, blowdown, and gas/fluid metering functionality. Entertainment and game play can be enabled by the enclosed volume involving robots and other devices.

Techniques for deploying a plurality of smallsats from a common launch vehicle are disclosed where a structural arrangement provides a load path between an upper stage of the launch and the plurality of spacecraft. Each spacecraft is mechanically coupled with the launch vehicle upper stage only by the structural arrangement. The structural arrangement includes at least one trunk member that is approximately aligned with the longitudinal axis of the launch vehicle upper stage, a plurality of branch members, each branch member being attached to the trunk member and having at least a first end portion that is substantially outboard from the longitudinal axis; and a plurality of mechanical linkages, each linkage coupled at a first end with a first respective spacecraft and coupled at a second end with one of the plurality of branch members, the trunk member or a second respective spacecraft.

An attitude control module is described for providing propellant-free attitude control and momentum desaturation to a spacecraft. The attitude control module includes at least one solar sail comprising a reflective surface for reflecting solar photons; and at least one robotic arm coupled to the at least one solar sail, said at least one robotic arm comprising at least 4 degrees of freedom for positioning and orienting the at least one solar sail relative to the spacecraft. A corresponding method for operating the attitude control module to unload excess momentum from a spacecraft is also described.

A space-based circuit-replacing robotic system and method include a satellite grasper configured to grasp the satellite having a printed circuit onto which an integrated circuit is soldered and the integrated circuit is to be replaced; an access mechanism configured to remove the printed circuit and/or to provide access to the printed circuit; a printed circuit orientation device configured to orient a printed circuit such that sunlight is incident on the printed circuit; one or more temperature sensors configured to measure a temperature of the solder on the printed circuit; a processor configured to adjust a rate of heating to match a desired heating rate; a circuit grasping device configured to position the circuit for replacement; and an optical shield that is configured to be adjusted to allow light to pass substantially only to a desired area of the printed circuit.