CAPTURE SYSTEM ADAPTED TO CAPTURE SPACE OBJECTS, IN PARTICULAR FOR RECOVERY OR DEORBITING PURPOSES

Abstract

A capture system adapted to capture a target space object, including a plurality of articulated arms configured to be deployable from a stowed configuration to a deployed configuration to perform capture of the target space object. Each articulated arm includes a plurality of articulated arm segments including a first articulated arm segment coupled at a proximal end to a spacecraft or to a platform deployable from the spacecraft via a first pivoting joint and at least a second articulated arm segment coupled at a proximal end to a distal end of the first articulated arm segment via a second pivoting joint. In one aspect of the capture system, the plurality of articulated arm segments are nestable one within the other, in the stowed configuration, such that the first and second articulated arm segments are intertwined.

Claims

1.-49. (canceled)

50. A capture system adapted to capture a target space object, comprising a plurality of articulated arms configured to be deployable from a stowed configuration to a deployed configuration to perform capture of the target space object, wherein each articulated arm includes a plurality of articulated arm segments including a first articulated arm segment coupled at a first proximal end to a spacecraft or to a platform deployable from said spacecraft, the first articulated arm segment being coupled at the first proximal end via a first pivoting joint, wherein the plurality of articulated arm segments further includes at least a second articulated arm segment coupled at a second proximal end to a first distal end of the first articulated arm segment via a second pivoting joint, and wherein the plurality of articulated arm segments are nestable one within the other, in the stowed configuration, such that the first and second articulated arm segments are intertwined.

51. The capture system according to claim 50, wherein, in the stowed configuration, the second articulated arm segment is received within an accommodating space of the first articulated arm segment.

52. The capture system according to claim 51, wherein the first articulated arm segment includes a longitudinal frame element with a U-shaped cross-section, the first longitudinal frame element being configured and dimensioned to receive the second articulated arm segment in the stowed configuration.

53. The capture system according to claim 52, wherein the longitudinal frame element is produced from a planar sheet or plate of material that is shaped by folding or moulding to exhibit the U-shaped cross-section.

54. The capture system according to claim 52, wherein each one of the articulated arm segments includes a longitudinal frame element with a U-shaped cross-section.

55. The capture system according to claim 54, wherein each longitudinal frame element is produced from a planar sheet or plate of material that is shaped by folding or moulding to exhibit the U-shaped cross-section.

56. A capture system adapted to capture a target space object, comprising a plurality of articulated arms configured to be deployable from a stowed configuration to a deployed configuration to perform capture of the target space object, wherein each articulated arm includes a plurality of articulated arm segments including a first articulated arm segment coupled at a first proximal end to a spacecraft via a first pivoting joint, wherein the plurality of articulated arm segments further includes at least a second articulated arm segment coupled at a second proximal end to a first distal end of the first articulated arm segment via a second pivoting joint, wherein each of the first pivoting joints is located on or close to a front face of the spacecraft, facing the space object to be captured, wherein, in the stowed configuration, the articulated arm segments are stowed backwards from the front face of the spacecraft, and wherein the articulated arms are deployed forward of the front face of the spacecraft to perform capture of the target space object.

57. The capture system according to claim 56, wherein, in the stowed configuration, each of the articulated arm segments is aligned along a corresponding longitudinal edge of the spacecraft.

58. The capture system according to claim 57, wherein each longitudinal edge is configured as a recessed section dimensioned to accommodate at least a portion of the articulated arm segments in the stowed configuration.

59. A capture system adapted to capture a target space object, comprising a plurality of articulated arms configured to be deployable from a stowed configuration to a deployed configuration to perform capture of the target space object, wherein each articulated arm includes a plurality of articulated arm segments including a first articulated arm segment coupled at a first proximal end to a spacecraft via a first pivoting joint, wherein the plurality of articulated arm segments further includes at least a second articulated arm segment coupled at a second proximal end to a first distal end of the first articulated arm segment via a second pivoting joint, and wherein, in the stowed configuration, each of the articulated arm segments is aligned longitudinally alongside lateral sides of the spacecraft.

60. The capture system according to claim 59, wherein, in the stowed configuration, each of the articulated arm segments is aligned along a corresponding longitudinal edge of the spacecraft.

61. The capture system according to claim 60, wherein each longitudinal edge is configured as a recessed section dimensioned to accommodate at least a portion of the articulated arm segments in the stowed configuration.

62. A capture system adapted to capture a target space object, comprising a plurality of articulated arms configured to be deployable from a stowed configuration to a deployed configuration to perform capture of the target space object, wherein each articulated arm includes a plurality of articulated arm segments including a first articulated arm segment coupled at a first proximal end to a spacecraft via a first pivoting joint, wherein the plurality of articulated arm segments further includes at least a second articulated arm segment coupled at a second proximal end to a first distal end of the first articulated arm segment via a second pivoting joint, and wherein, in the stowed configuration, the articulated arm segments are folded one onto the other into a compact folded configuration.

63. The capture system according to claim 62, wherein each of the first and second pivoting joints are configured such that the first and second articulated arm segments are pivoted in the same direction upon deployment from the stowed configuration to the deployed configuration.

64. The capture system according to claim 62, wherein each of the first and second pivoting joints are configured such that the first and second articulated arm segments are pivoted in opposite directions upon deployment from the stowed configuration to the deployed configuration.

65. A capture system adapted to capture a target space object, comprising a plurality of articulated arms configured to be deployable from a stowed configuration to a deployed configuration to perform capture of the target space object, wherein each articulated arm includes a plurality of articulated arm segments including a first articulated arm segment coupled at a first proximal end to a spacecraft or to a platform deployable from said spacecraft, the first articulated arm segment being coupled at the first proximal end via a first pivoting joint, wherein the plurality of articulated arm segments further includes at least a second articulated arm segment coupled at a second proximal end to a first distal end of the first articulated arm segment via a second pivoting joint, and wherein at least one of the articulated arm segments is provided with a shock-absorbing element configured to come in contact with the space object to be captured.

66. The capture system according to claim 65, wherein the shock-absorbing element is configured to be reversibly deformable.

67. The capture system according to claim 65, wherein the shock-absorbing element comprises a deformable member secured to and protruding away from the articulated arm segment.

68. The capture system according to claim 67, wherein the deformable member includes a longitudinal element secured at opposite longitudinal ends to the articulated arm segment.

69. The capture system according to claim 68, wherein each of the opposite longitudinal ends of the longitudinal element includes securing tabs that are inserted through corresponding mounting slots provided on the articulated arm segment and retained in said mounting slots by retaining elements.

70. The capture system according to claim 67, wherein the deformable member is a convexly curved sheet or plate of material.

71. The capture system according to claim 65, wherein each of the first and second articulated arm segments is provided with one said shock-absorbing element.

72. The capture system according to claim 65, wherein the shock-absorbing element is made of or comprises an elastically deformable material, such as a polymer or composite material.

73. The capture system according to claim 65, wherein the shock-absorbing element is made of or comprises a plastically deformable material.

74. A capture system adapted to capture a target space object, comprising a plurality of articulated arms configured to be deployable from a stowed configuration to a deployed configuration to perform capture of the target space object, wherein each articulated arm includes a plurality of articulated arm segments including a first articulated arm segment coupled at a first proximal end to a spacecraft or to a platform deployable from said spacecraft, the first articulated arm segment being coupled at the first proximal end via a first pivoting joint, wherein the plurality of articulated arm segments further includes at least a second articulated arm segment coupled at a second proximal end to a first distal end of the first articulated arm segment via a second pivoting joint, and wherein each articulated arm further includes a third articulated arm segment coupled at a third proximal end to a second distal end of the second articulated arm segment via a third pivoting joint.

75. The capture system according to claim 50, wherein each articulated arm further includes a third articulated arm segment coupled at a third proximal end to a second distal end of the second articulated arm segment via a third pivoting joint, and wherein both the second and the third articulated arm segments are nestable, in the stowed configuration, such as to be intertwined with the first articulated arm segment.

76. The capture system according to claim 75, wherein the third articulated arm segment is received, in the stowed configuration, within an accommodating space of the second articulated arm segment.

77. The capture system according to claim 63, wherein each articulated arm further includes a third articulated arm segment coupled at a third proximal end to a second distal end of the second articulated arm segment via a third pivoting joint, and wherein the third pivoting joint is configured such that the third articulated arm segment is pivoted in the same direction as the first and second articulated arm segments upon deployment from the stowed configuration to the deployed configuration.

78. The capture system according to claim 64, wherein each articulated arm further includes a third articulated arm segment coupled at a third proximal end to a second distal end of the second articulated arm segment via a third pivoting joint, and wherein the third pivoting joint is configured such that the third articulated arm segment is pivoted in the same direction as the first articulated arm segment upon deployment from the stowed configuration to the deployed configuration.

79. The capture system according to claim 65, wherein each articulated arm further includes a third articulated arm segment coupled at a third proximal end to a second distal end of the second articulated arm segment via a third pivoting joint, and wherein each of the second and third articulated arm segments is provided with one said shock-absorbing element.

80. The capture system according to claim 74, wherein the third pivoting joint is configured to have an amplitude of pivoting movement of greater than 180.

81. The capture system according to claim 74, wherein the second pivoting joint is configured to have an amplitude of pivoting movement of greater than 180.

82. The capture system according to claim 74, wherein the second pivoting joint is configured to have an amplitude of pivoting movement of less than 180.

83. The capture system according to claim 74, wherein the first pivoting joint is configured to have an amplitude of pivoting movement of less than 180.

84. The capture system according to claim 74, wherein each one of the articulated arm segments includes an openwork structure.

85. The capture system according to claim 74, wherein each one of the articulated arm segments is made of a lightweight material, such as aluminium, or alloys or composites thereof.

86. The capture system according to claim 74, wherein each one of the articulated arm segments is made of a composite of sandwiched materials.

87. The capture system according to claim 74, wherein each pivoting joint is equipped with an actuator allowing independent actuation of each articulated arm segment.

88. The capture system according to claim 74, wherein each of the articulated arms is provided with one or more sensors selected from the group consisting of proximity sensors, contact sensors, current sensors and force sensors.

89. A spacecraft comprising a capture system in accordance with claim 74.

90. The spacecraft according to claim 89, wherein the capture system is coupled to a body of the spacecraft.

91. The spacecraft according to claim 90, wherein the spacecraft comprises a main body with a plurality of substantially parallel longitudinal edges extending along a same direction, each articulated arm being positioned along a corresponding one of the longitudinal edges.

92. The spacecraft according to claim 89, wherein the capture system is coupled to a platform deployable from the spacecraft.

93. The spacecraft according to claim 89, further comprising a sensor system designed to assist tracking and/or rendezvous operations with the target space object to be captured.

94. The spacecraft according to claim 93, wherein the sensor system is located along a centreline of the capture system.

95. A method of capturing a space object using the capture system of claim 74, comprising the following steps: deploying the articulated arms from the stowed configuration to an open deployed configuration; positioning of the capture system with respect to the space object to be captured so that the space object is brought within operating range of the capture system; closing the articulated arms around at least part of the space object; and locking the articulated arms onto the space object so as to prevent any relative movement between the capture system and the space object.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Other features and advantages of the present invention will appear more clearly from reading the following detailed description of embodiments of the invention which are presented solely by way of non-restrictive examples and illustrated by the attached drawings in which:

[0052] FIG. 1A is a schematic perspective view of a spacecraft equipped with a capture system in accordance with an embodiment of the invention, the capture system being shown in a stowed configuration;

[0053] FIG. 1B is a schematic perspective view of the spacecraft of FIG. 1A with the capture system shown in a deployed configuration, ready to capture a target space object;

[0054] FIG. 2 is a photographic illustration of the Vespa (Vega Secondary Payload Adapter) that was used to deliver multiple payloads in Earth orbit on May 7, 2013 as part of the second flight of ESA's Vega launch vehicle;

[0055] FIG. 3A is an illustrative image rendering of a spacecraft equipped with a capture system in accordance with an embodiment of the invention, the spacecraft being shown with deployed capture system performing a rendezvous operation with a target space object to be captured;

[0056] FIG. 3B is an illustrative image rendering of the spacecraft of FIG. 3A in the process of capturing the target space object, the spacecraft being shown with the capture system being partly closed onto the target space object;

[0057] FIG. 4A is a schematic perspective view of a spacecraft equipped with a capture system in accordance with a preferred embodiment of the invention, the capture system being shown in the stowed configuration;

[0058] FIG. 4B is a front view of the spacecraft and capture system of FIG. 4A;

[0059] FIG. 4C is a side view of the spacecraft and capture system of FIG. 4A;

[0060] FIG. 4D is a partial cross-sectional view of a first portion of one of the articulated arms of the capture system of FIGS. 4A-C showing first and third articulated joints of the articulated arm;

[0061] FIG. 4E is a partial cross-sectional view of a remaining portion of the articulated arm of FIG. 4D showing a second articulated joint of the articulated arm;

[0062] FIG. 5A is a perspective view of an upper portion of a first articulated arm segment of each articulated arm of the capture system of FIGS. 4A-E, which first articulated arm segment includes a U-shaped longitudinal frame element and a shock-absorbing element secured thereto;

[0063] FIG. 5B is a perspective view of a lower portion of the first articulated arm segment of FIG. 5A,

[0064] FIG. 5C is a front view of the first articulated arm segment of FIGS. 5A-13;

[0065] FIG. 5D is a bottom view of the first articulated arm segment of FIGS. 5A-B,

[0066] FIG. 6 is a perspective view of a planar sheet or plate of material prior to shaping by folding into the U-shaped longitudinal frame element of FIGS. 5A-D,

[0067] FIG. 7A is a perspective view of an upper portion of a second articulated arm segment of each articulated arm of the capture system of FIGS. 4A-E, which second articulated arm segment includes a U-shaped longitudinal frame element and a shock-absorbing element secured thereto;

[0068] FIG. 7B is a perspective view of a lower portion of the second articulated arm segment of FIG. 7A;

[0069] FIG. 8A is a perspective view of an upper portion of a third articulated arm segment of each articulated arm of the capture system of FIGS. 4A-E, which third articulated arm segment includes a U-shaped longitudinal frame element and a shock-absorbing element secured thereto;

[0070] FIG. 8B is a perspective view of a lower portion of the third articulated arm segment of FIG. 8A; and

[0071] FIG. 9 is a schematic side view of one articulated arm of the capture system of FIGS. 4A-E shown in a partly deployed state.

DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION

[0072] The present invention will be described in relation to various illustrative embodiments. It shall be understood that the scope of the invention encompasses all combinations and sub-combinations of the features of the embodiments disclosed herein.

[0073] As described herein, when two or more parts or components are described as being connected, attached, secured or coupled to one another, they can be so connected, attached, secured or coupled directly to each other or through one or more intermediary parts.

[0074] Embodiments of the invention will especially be described hereinafter in the particular context of the capture of part of the Vespa (Vega Secondary Payload Adapter), namely the conical upper part of the payload adapter that was used to deliver multiple payloads in Earth orbit on May 7, 2013 during the second Vega flight, VV02, amongst which the ESA's Proba-V satellite. FIG. 2 is a photographic illustration of the Vespa adapter carrying the Proba-V payload, prior to installation within the Vega VV02 fairing. The Proba-V payload is pictured here sitting on top of the conical upper part, designated by reference SO, of the Vespa adapter. The conical upper part SO of the Vespa adapter was left in an approximately 800 km by 660 km altitude orbit around Earth following the VV02 mission. This conical upper part SO, also pictured in FIGS. 3A and 3B, has a mass of the order of 100 kg and an outer diameter of the order of 940 mm, and the capture system that will be described hereafter with reference to FIGS. 1A-B and 3A-B to 9 has been designed taking into account the aforementioned characteristics. It will be understood however that the capture system of the present invention can be used for capturing other types of space objects and is by no means limited solely to the capture of the aforementioned conical upper part of the Vespa adapter.

[0075] FIGS. 1A and 1B are schematic illustrations of a spacecraft (also referred to as chaser) 1000 equipped with a capture system, generally designated by reference numeral 100, in accordance with an embodiment of the invention. FIGS. 1A and 1B in essence illustrate the basic principle of the capture system 100 of the invention, FIG. 1A showing the capture system 100 in a stowed configuration (which stowed configuration is adopted e.g. during launch of the spacecraft 1000), while FIG. 1B shows the capture system 100 in an open deployed configuration (which deployed configuration is especially adopted prior to approaching the space object and performing a capture attempt, as depicted e.g. in FIG. 3A).

[0076] In the illustrated embodiment, the capture system 100 comprises four articulated arms 100A, 100B, 100C, 100D that are coupled to the spacecraft 1000. In other embodiments, the capture system could be coupled to a dedicated platform deployable from the spacecraft 1000. Any number of articulated arms could however be contemplated, namely two or more articulated arms, depending on the mission requirements and the type of space object to be captured. In some instances, two articulated arms might be sufficient to achieve adequate capture of the space object. Considering the contemplated application mentioned above, the use of four articulated arms is preferred in that the space object SO to be captured exhibits a cylindrical symmetry, namely consists of a substantially conical solid of revolution around a main longitudinal axis (see FIGS. 2, 3A and 3B).

[0077] The spacecraft 1000 here advantageously comprises a main body of substantially parallelepipedic shape, each articulated arm 100A, 100B, 100C, 100D being positioned along a corresponding longitudinal edge 1000A, 1000B, 1000C, resp. 1000D of the spacecraft 1000. More specifically, each articulated arm 100A, 100B, 100C, 100D includes a plurality of articulated arm segments 101, 102, 103 including at least a first articulated arm segment 101 (or proximal arm segment) and a second articulated arm segment 102 (or intermediate arm segment). In the illustrated embodiment, each articulated arm 100A, 100B, 100C, 100D advantageously further comprises a third articulated arm segment (or distal arm segment).

[0078] More specifically, the first articulated arm segment 101 is coupled at a proximal end to the spacecraft 1000 via a first pivoting joint 101J and the second articulated arm segment 102 is coupled at a proximal end to a distal end of the first articulated arm segment 101 via a second pivoting joint 102J. By the same token, the third articulated arm segment 103 is coupled at a proximal end to a distal end of the second articulated arm segment 102 via a third pivoting joint 103J.

[0079] In the illustrated embodiment, a front face X+ of the spacecraft 1000 is in essence used as a deployment platform for the articulated arms 100A-D and each of the first pivoting joints 101J is located on the front face X+. The first pivoting joints 101J may be located along the longitudinal edges 1000A-1000D, on or close to the front face X+, thereby allowing to make use of substantially all of the longitudinal length of the spacecraft body for the purpose of stowing the articulated arms 100A-D (as explained hereafter). It is however also possible to locate the first pivoting joints 101J at a certain distance away from the front face X+ of the spacecraft 100 if necessary. Positioning of the first pivoting joints 101J on or close to the front face X+ of the spacecraft 1000 remains a preferred solution though.

[0080] As is already apparent from the schematic illustrations of FIGS. 1A-B, the articulated arm segments 101-103 are here stowed backwards from the front face X+, in the stowed configuration (FIG. 1A), and the articulated arms 100A-D are deployed forward of the front face X+ of the spacecraft 1000 (FIG. 1B) to perform a capture operation (see also FIGS. 3A-B). More specifically, in the stowed configuration, each articulated arm 100A, 100B, 100C, 100D is advantageously stowed such that the articulated arm segments 101-103 are folded one onto the other into a highly compact folded configuration. In the illustrated embodiment, the folded configuration is such that the first articulated arm segment 101 is positioned at an outermost location relative to the second and third articulated arm segments 102 and 103, which end up being interposed between the first articulated arm segment 101 and the relevant longitudinal edge 1000A, 1000B, 1000C, resp. 1000D of the spacecraft 1000, in an intertwined manner.

[0081] High compactness, in the stowed configuration, may especially be achieved by designing the first articulated arm segment 101 in such a way as to exhibit an accommodating space that is configured and dimensioned to receive, in the illustrated embodiment, both the second and third articulated arm segments 102 and 103.

[0082] In accordance with a particularly preferred embodiment of the invention, each pivoting joint 101J, 102J, 103J is equipped with an actuator 101M, 102M, resp. 103M (such as a suitable motor) allowing independent actuation of each articulated arm segment 101, 102, resp. 103, which provides high flexibility and versatility in terms of actuation of the articulated arms and achievable arm geometries. Actuation of the articulated arms 100A-D could however be achieved by different means, such as by using a common drive actuating the relevant arm segments 101-103 via a cable.

[0083] While not specifically shown, each of the articulated arms 100A-D may be provided with one or more sensors selected from the group consisting of proximity sensors, contact sensors, current sensors and force sensors. Force sensors could in particular be integrated in each pivoting joint to measure e.g. a torque generated at each pivoting joint. Current sensors could similarly be integrated in each actuator to measure actual power consumption at each pivoting joint. Contact sensors and/or proximity sensors could also be integrated on each articulated arm segment 101, 102, 103 to detect contact or proximity with the space object SO to be captured.

[0084] In the illustrated embodiment, one may further note that the four articulated arms 100A-D are advantageously distributed uniformly about a centreline, designated CL, which coincides with a main longitudinal axis of the spacecraft 1000. While not specifically shown in FIGS. 1A-B, it will be understood that the front face X+ of the spacecraft 1000 in particular provides room for the provision of a suitable sensor system designed e.g. to assist tracking and/or rendezvous operations with the target space object (see e.g. FIGS. 4A-C where such a sensor system is shown and designated by reference numeral 500).

[0085] FIGS. 3A and 3B are illustrative image renderings of a spacecraft 1000 equipped with a capture system 100 following the principle that has been discussed with reference to FIGS. 1A-B, the capture system 100 being shown in FIG. 3A in a deployed state, performing a rendezvous operation with the target space object SO to be captured. FIG. 3B shows the capture system 100 in a deployed, partly closed state, with the articulated arms 100A-D in the process of being closed around the target space object SO so as to embrace or envelop it. FIGS. 3A-B illustrate the comparatively large operational volume covered by the capture system 100 in the deployed configuration.

[0086] While not specifically illustrated, it shall be understood that the articulated arms 100A-D are closed onto the target space object SO so as to create an intimate and robust connection between the capture system 100 and the space object SO, thereby preventing any relative movement between the capture system 100 and the space object SO. In effect, upon completing the capture operation, the articulated arms 100A-D are preferably locked onto the space object SO to prevent any dislodgment or release of the space object SO from the capture system 100.

[0087] FIGS. 4A-E are schematic views of a spacecraft 1000 equipped with a capture system 100 in accordance with a preferred embodiment of the invention, the capture system 100 being shown in the stowed configuration. The capture system 100 depicted in FIGS. 4A-E likewise follows the same principle as generically illustrated by FIGS. 1A-B, the same references being used to designate the same features and components of the spacecraft 1000 and capture system 100 discussed hereabove.

[0088] Each articulated arm 100A, 100B, 100C, 100D is shown in the stowed configuration, positioned along a corresponding longitudinal edge 1000A, 1000B, 1000C, resp. 1000D of the spacecraft 1000, with the articulated arm segments 101-103 stowed backwards from the front face X+ of the spacecraft 1000 in an intertwined manner. Each of the first pivoting joints 101J is likewise located on the front face X+ of the spacecraft 1000. As this will be more clearly apparent from the following description of FIGS. 4D and 4E, each of the articulated arm segments 101-103 is aligned, in the stowed configuration, alongside lateral sides of the spacecraft, namely along each of the aforementioned longitudinal edges 1000A-D.

[0089] In the illustrated embodiment shown in FIGS. 4A-D, each longitudinal edge 1000A-D is advantageously configured as a recessed section dimensioned to accommodate at least a portion of the articulated arm segments 101-103 in the stowed configuration. In this way, lateral sides of the spacecraft 1000 are freed and can optimally be exploited for the purpose of locating suitable solar panels as well as individual attitude thrusters used to control attitude of the spacecraft, the articulated arms 100A-D being ideally positioned about the spacecraft 1000 to avoid any interference with operation of the aforementioned solar panels and/or attitude thrusters.

[0090] FIGS. 4A and 4B also show the aforementioned sensor system 500 designed to assist tracking and/or rendezvous operations with the target space object to be captured, which sensor system 500 is ideally positioned on the front face X+ of the spacecraft 1000, along the centreline CL of the capture system 100.

[0091] FIGS. 4D and 4E are cross-sectional views of front and rear sections of the articulated arms 100A-D in the stowed configuration, the articulated arm segments 101-103 being shown folded one onto the other into a compact folded configuration. Visible in FIG. 4D are the first and third pivoting joints 101J, 103J, respectively (and associated actuators 101M, 103M) that are respectively provided at the proximal end of the first and third articulated arm segments 101, 103. Visible in FIG. 4E is, likewise, the second pivoting joint 102J (and associated actuator 102M) that is provided at the proximal end of the second articulated arm segment 102.

[0092] FIGS. 4D and 4E further show that both the second and third articulated arm segments 102, 103 are at least partly received, in the stowed configuration, within an accommodating space 101A of the first articulated arm segment 101, thus lead to intertwining of the articulated arm segments 101-103 in the stowed configuration. In that respect, at least the first articulated arm segment 101 includes a longitudinal frame element 111 with a U-shaped cross-section (shown separately in FIGS. 5A-D), which first longitudinal frame element 111 is configured and dimensioned to receive the second and third articulated arm segments 102, 103 in the stowed configuration. In the illustrated embodiment, each of the second and third articulated arm segments 102, 103 likewise includes a longitudinal frame element 112, resp. 113, with a U-shaped cross-section (shown separately in FIGS. 7A-B and 8A-B), the second longitudinal frame element 112 being similarly configured and dimensioned to receive the third articulated arm segment 103 in the stowed configuration. Other cross-sectional shapes and geometries could be contemplated, while still achieving intertwining of the articulated arm segments 101-103 in the stowed configuration.

[0093] Further advantageous features of the capture system 100 of FIGS. 4A-E will now be described in greater detail with reference to FIGS. 5A-D to 8A-B.

[0094] FIGS. 5A-D are various views of the first articulated arm segment 101 visible in FIGS. 4A-E, including the aforementioned longitudinal frame element 111. Reference signs 101a, 101b in FIGS. 5A-C respectively designate the proximal and distal ends of the first articulated arm segment 101, which ends 101a, 101b respectively coincide with the relevant pivoting axes of the first and second pivoting joints 101J, 102J. As already mentioned, the longitudinal frame element 111 exhibits a U-shaped cross-section forming an accommodating space 101A suitably configured and dimensioned to receive the second articulated arm segment 102 in the stowed configuration.

[0095] FIGS. 7A-B are two perspective views of the second articulated arm segment 102 visible e.g. in FIGS. 4D-E, including the aforementioned longitudinal frame element 112. Reference signs 102a, 102b in FIGS. 7A-B respectively designate the proximal and distal ends of the second articulated arm segment 102, which ends 102a, 102b respectively coincide with the relevant pivoting axes of the second and third pivoting joints 102J, 103J. As already mentioned, the longitudinal frame element 112 exhibits a U-shaped cross-section forming an accommodating space 102A suitably configured and dimensioned to receive the third articulated arm segment 103 in the stowed configuration.

[0096] FIGS. 8A-B are two perspective views of the third articulated arm segment 103 visible e.g. in FIGS. 4D-E, including the aforementioned longitudinal frame element 113. Reference sign 103a in FIGS. 8A-B designates the proximal end of the third articulated arm segment 103, which coincides with the pivoting axis of the third pivoting joints 103J. The longitudinal frame element 113 likewise exhibits a U-shaped cross-section forming an accommodating space 103A.

[0097] The longitudinal frame elements 111, 112, 113 exhibit substantially the same overall configuration and are preferably produced from a planar sheet or plate of material that is shaped to exhibit the U-shaped cross-section. Shaping into the U-shaped configuration can conveniently be achieved by folding or moulding. In the illustrated embodiment, each longitudinal frame element 111, 112, 113 is preferably formed by folding from a planar, stamped plate of material (e.g. an aluminium plate) as will now be described with reference to FIG. 6 in connection with the longitudinal frame element 111. It will be understood that the longitudinal frame elements 112, 113 are produced in a similar manner.

[0098] In other embodiments, the longitudinal frame elements 111, 112, 113 could be produced by other means, for instance by machining a blank of material, by sintering, by injection moulding, or by 3D printing techniques or like additive printing processes.

[0099] FIG. 6 is a perspective view of a planar sheet or plate of material, designated by reference sign 111*, prior to shaping into the U-shaped longitudinal frame element 111. The planar sheet or plate 111* can conveniently be produced by stamping and then subjected to folding operations to shape the planar sheet or plate 111* into the desired longitudinal frame element 111. This is not only cost-efficient to produce, but moreover leads to a lightweight, yet robust construction.

[0100] By way of preference, each one of the articulated arm segments 101, 102, 103, or more precisely each of the longitudinal frame elements 111, 112, 113, is made of a lightweight material, such as aluminium, or alloys or composites thereof. Use of a composite of sandwiched materials could in particular be contemplated.

[0101] As further shown in FIGS. 5A-D to 8A-B, lightweight construction can be further improved by structuring the frame elements 111, 112, 113 to exhibit an openwork structure, i.e. a structure with apertures and/or through-holes designed to reduce weight without compromising structural integrity or robustness. This can conveniently be achieved by stamping a series of holes and apertures into the relevant sheet or plate of material prior to folding. Stamping can furthermore be carried out in such a way as to allow the formation of further structural features such as mounting slots and retaining elements, as further described below.

[0102] In accordance with a particularly preferred embodiment of the invention, at least one (preferably multiple or all) of the articulated arm segments is further provided with a shock-absorbing element configured to come in contact with the space object to be captured. In the embodiment illustrated in FIGS. 4A-E to 8A-B, each of the articulated arm segments 101, 102, 103 is in effect provided with such a shock-absorbing element designated by reference numerals 201, 202 and 203, respectively.

[0103] In the illustrated embodiment, each shock-absorbing element is especially configured to be reversibly deformable. Advantageously, each shock-absorbing element comprises a deformable member 201, 202, 203 that is secured to and protruding away from the associated articulated arm segment 101, 102, 103. In the illustrated embodiment, each deformable member 201, 202, 203 includes a longitudinal element that is conveniently secured at opposite longitudinal ends to the articulated arm segment 101, 102, 103, namely to the relevant longitudinal frame element 111, 112, 113. In the illustrated embodiment, the deformable member 201, 202, 203 takes the shape of a convexly curved sheet or plate of material, but other embodiments could be contemplated while ensuring a shock-absorbing function.

[0104] By way of preference, the shock-absorbing element 201, 202, resp. 203 is made of or comprises an elastically deformable material, such as a polymer or composite material (other material being conceivable). In other embodiments, the shock-absorbing element 201, 202, resp. 203 may be made of or comprise a plastically deformable material. As shown in FIGS. 5A-D, 7A-B and 8A-B, each of the shock-absorbing element 201, 202, 203 may likewise include an openwork structure.

[0105] Referring to the illustrations of FIGS. 5A-D, 7A-B and 8A-B, each of the opposite longitudinal ends of the longitudinal element 201, 202, 203 includes securing tabs 201A, 202A, resp. 203A that are inserted through corresponding mounting slots provided on the articulated arm segment 101, 102, 103. These securing tabs 201A, 202A, 203A are secured and retained in the relevant mounting slots by a series of retaining elements 111A-B, 112A-B, resp. 113A-B, as shown in FIGS. 5A-D, 7A-B and 8A-B, thereby leading to a particularly simple overall construction.

[0106] Referring again to FIG. 6 and the illustrative example of the first articulated arm segment 101 (which principles apply by analogy to the second and third articulated arm segments 102, 103), one will understand that tabs 111A*, 111B* are formed in the relevant planar sheet or plate of material 111*, which tabs 111A*, 111B* are ultimately shaped into the desired retaining elements 111A, resp. 111B. One will likewise understand that apertures 111C* are formed in the relevant planar sheet or plate of material 111*, which apertures 111C* are ultimately shaped into the desired mounting slots dimensioned to allow attachment of the relevant securing tabs 201A of the longitudinal element 201.

[0107] FIG. 9 is a schematic side view of one articulated arm 100A, 100B, 100C, resp. 100D of the capture system 100 of FIGS. 4A-E shown in a partly deployed state.

[0108] Looking at FIG. 9, one may especially appreciate that each of the first and second pivoting joints 101J, 102J are configured such that the first and second articulated arm segments 101, 102 are pivoted in the same direction upon deployment from the stowed configuration to the deployed configuration (namely in the clockwise in the illustrated configuration). In effect, referring to the illustrated embodiment, the third pivoting joint 103J is likewise configured such that the third articulated arm segment 103 is pivoted in the same direction as the other articulated arm segments 101, 102.

[0109] One may further appreciate that, in the illustrated embodiment, the second and third pivoting joints 102J, 103J are both configured to have an amplitude of pivoting movement of greater than 180, while the first pivoting joint 101J is configured to have an amplitude of pivoting movement of less than 180. In other embodiments, the relevant amplitudes of pivoting movement of the pivoting joints could however be different.

[0110] This particular configuration and the associated kinematics of actuation of the articulated arms 100A-D ensure a particularly compact arrangement of the articulated arms 100A-D in the folded configuration as shown in the illustrations of FIGS. 4A-E, without compromising in any way the operating capabilities of the capture system 100.

[0111] Other configurations and kinematics of actuation of the articulated arms could however be contemplated within the framework of the invention. In particular, all of the pivoting joints do not necessarily need to be configured such that the associated articulated arm segments are pivoted in the same direction upon deployment from the stowed configuration. For instance the articulated arms may be configured such that the first (proximal) arm segment is brought to an innermost position in the stowed configuration (which requires a corresponding adaptation of the structure of the first arm segment), with the second and e.g. third arm segments folded onto an outer portion of the first arm segment in a Z-shaped folding pattern. In such case, the second pivoting joint would be configured such that the second articulated arm segment is pivoted, upon deployment from the stowed configuration, in a direction opposite to the direction in which the first and third articulated arm segments are pivoted. In this latter case, and in contrast to the illustrated embodiments, the second pivoting joint would preferably be configured to have an amplitude of pivoting movement of less than 180.

[0112] Based on the above description, it will be understood that various aspects of the invention are contemplated, which aspects are applicable independently from one another or, preferably, in combination. All aspects relate to a capture system adapted to capture a target space object, which capture system comprises a plurality of articulated arms configured to be deployable from a stowed configuration to a deployed configuration to perform capture of the target space object. According to the invention, each articulated arm includes a plurality of articulated arm segments including a first articulated arm segment coupled at a proximal end to a spacecraft (or to a platform deployable from said spacecraft as the case may be) via a first pivoting joint and at least a second articulated arm segment coupled at a proximal end to a distal end of the first articulated arm segment via a second pivoting joint.

[0113] According to a first aspect of the invention, the capture system is such that the plurality of articulated arm segments are nestable one within the other, in the stowed configuration, such that the first and second articulated arm segments are intertwined.

[0114] According to a second aspect of the invention, the capture system is such that each of the first pivoting joints is located on or close to a front face of the spacecraft facing the object to be captured, that, in the stowed configuration, the articulated arm segments are stowed backwards from the front face of the spacecraft, and that the articulated arms are deployed forward of the front face of the spacecraft to perform capture of the space object.

[0115] According to a third aspect of the invention, the capture system is such that, in the stowed configuration, each of the articulated arm segments is aligned longitudinally alongside lateral sides of the spacecraft.

[0116] According to a fourth aspect of the invention, the capture system is such that at least one of the articulated arms (preferably multiple ones) is provided with a shock-absorbing element configured to come in contact with the space object to be captured.

[0117] Various modifications and/or improvements may be made to the above-described embodiments without departing from the scope of the invention as defined by the appended claims. For instance, it should be appreciated that the capture system of the invention may comprise any number of articulated arms and that the invention is by no means specifically limited to the use of four articulated arms. A minimum of two could be contemplated, the number of articulated arms preferably ranging from three to five in practice.

[0118] Similarly, although the illustrated embodiments show articulated arms each including three articulated arm segments, each articulated arm may include any suitable number of articulated arm segments, including a minimum of two arm segments and more than three arm segments if necessary or appropriate.

[0119] Furthermore, although the embodiments disclosed herein show a capture system adapted to capture the conical upper part of the Vespa adapter, the capture system could be adapted to the capture of any other space object.

[0120] Moreover, while the spacecraft shown in the Figures comprises a main body exhibiting a substantially parallelepipedic shape with four longitudinal edges, any other suitable shape could be contemplated. In particular, according to an embodiment of the invention, the spacecraft may comprise a main body with a plurality of substantially parallel longitudinal edges extending along a same direction, each articulated arm being positioned along a corresponding one of the longitudinal edges. Any number of longitudinal edges and articulated arms could be contemplated, in particular ranging from two to five or more.

[0121] It should also be appreciated that, in order for the articulated arm segments to be intertwined, other cross-sectional shapes than U-shaped cross-sections could be contemplated, including without any limitation L-shaped and T-shaped cross-sections, as long as the articulated arm segments exhibit mutually complementary configurations, geometries and dimensions. In that respect, the relevant cross-sectional shapes could differ from one articulated arm segment to the other.

LIST OF REFERENCE NUMERALS AND SIGNS USED THEREIN

[0122] 100 capture system (embodiments of invention) [0123] 100A first articulated arm of capture system 100 [0124] 1008 second articulated arm of capture system 100 [0125] 100C third articulated arm of capture system 100 [0126] 100D fourth articulated arm of capture system 100 [0127] 101 first articulated arm segment of articulated arm 100A, 1008, 100C, resp. 100D [0128] 101a proximal end of first articulated arm segment 101 (pivotally coupled to spacecraft 1000) [0129] 101b distal end of first articulated arm segment 101 (pivotally coupled to proximal end 102a of second articulated arm segment 102) [0130] 101A accommodating space of first articulated arm segment 101 (configured and dimensioned to receive second and third articulated arm segments 102, 103 in the stowed configuration) [0131] 101J first pivoting joint providing articulation of a proximal end of the first articulated arm segment 101 onto the spacecraft 1000 [0132] 101M first actuator (e.g. electric motor) providing actuation of the first articulated arm segment 101 at the first pivoting joint 101J [0133] 102 second articulated arm segment of articulated arm 100A, 1006, 100C, resp. 100D [0134] 102a proximal end of second articulated arm segment 102 (pivotally coupled to distal end 101b of first articular arm segment 101) [0135] 102b distal end of second articulated arm segment 102 (pivotally coupled to proximal end 103a of third articulated arm segment 103) [0136] 102A accommodating space of second articulated arm segment 102 (configured and dimensioned to receive third articulated arm segment 103 in the stowed configuration) [0137] 102J second pivoting joint providing articulation of a proximal end of the second articulated arm segment 102 onto a distal end of the first articulated arm segment 101 [0138] 102M second actuator (e.g. electric motor) providing actuation of the second articulated arm segment 102 at the second pivoting joint 102J [0139] 103 third articulated arm segment of articulated arm 100A, 1006, 100C, resp. 100D [0140] 103a proximal end of third articulated arm segment 103 (pivotally coupled to distal end 102b of second articular arm segment 101) [0141] 103A accommodating space of third articulated arm segment 103 [0142] 103J third pivoting joint providing articulation of a proximal end of the third articulated arm segment 103 onto a distal end of the second articulated arm segment 102 [0143] 103M third actuator (e.g. electric motor) providing actuation of the third articulated arm segment 103 at the third pivoting joint 103J [0144] 111 (first) longitudinal frame element of first articulated arm segment 101 [0145] 111A retaining elements for securing tabs 201A [0146] 111B retaining elements for securing tabs 201A [0147] 111* planar sheet/plate of material prior to shaping (e.g. by folding) into longitudinal frame element 111 [0148] 111A* tabs in planar sheet/plate of material 111* prior to shaping (e.g. by folding) into retaining elements 111A [0149] 111B* tabs in planar sheet/plate of material 111* prior to shaping (e.g. by folding) into retaining elements 111B [0150] 111C* apertures in planar sheet/plate of material 111* prior to shaping (e.g. by folding) into mounting slots for securing tabs 201A [0151] 112 (second) longitudinal frame element of second articulated arm segment 103 [0152] 112A retaining elements for securing tabs 202A [0153] 112B retaining elements for securing tabs 202A [0154] 113 (third) longitudinal frame element of third articulated arm segment 103 [0155] 113A retaining elements for securing tabs 203A [0156] 113B retaining elements for securing tabs 203A [0157] 201 (first) shock-absorbing element provided on first articulated arm segment 101/(first) longitudinal element made e.g. of a concavely curved sheet/plate of material secured to longitudinal frame element 111 [0158] 201A securing tabs protruding from longitudinal sides of longitudinal element 201 for mounting on longitudinal frame element 111 [0159] 202 (second) shock-absorbing element provided on second articulated arm segment 102/(second) longitudinal element made e.g. of a concavely curved sheet/plate of material secured to longitudinal frame element 112 [0160] 202A securing tabs protruding from longitudinal sides of longitudinal element 202 for mounting on longitudinal frame element 112 [0161] 203 (third) shock-absorbing element provided on third articulated arm segment 103/(third) longitudinal element made e.g. of a concavely curved sheet/plate of material secured to longitudinal frame element 113 [0162] 203A securing tabs protruding from longitudinal sides of longitudinal element 203 for mounting on longitudinal frame element 113 [0163] 500 sensor system [0164] 1000 spacecraft (or chaser) equipped with capture system 100 [0165] 1000A first longitudinal edge along lateral sides of spacecraft 1000 providing space for positioning of first articulated arm 100A in a stowed configuration [0166] 1000B second longitudinal edge along lateral sides of spacecraft 1000 providing space for positioning of second articulated arm 100B in a stowed configuration [0167] 1000C third longitudinal edge along lateral sides of spacecraft 1000 providing space for positioning of third articulated arm 100C in a stowed configuration [0168] 1000D fourth longitudinal edge along lateral sides of spacecraft 1000 providing space for positioning of fourth articulated arm 100D in a stowed configuration [0169] SO space object to be captured [0170] X+ front face of spacecraft 1000 facing space object SO to be captured [0171] CL centreline of capture system 100