Spacecraft docking mechanism
View Patent ↗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 dock 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 into the LAM by the approach motion of the servicer spacecraft. When the probe tip has 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 the client spacecraft. With the preload applied by the probe retraction mechanism reacted through these pads, the docking mechanism can maintain a rigid docked interface under loads induced by thrusting maneuvers of the combined spacecraft or loads induced by on-orbit servicing operations.
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.
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 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 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 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 wherein said at least one elongate berthing post is three elongate berthing posts.
7. The docking mechanism according to claim 1 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 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 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 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 including a light mounted on the support frame for illuminating the apogee motor and target spacecraft.
12. The docking mechanism according to claim 1 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.
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 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 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 including a laser rangefinder mounted on the support frame.
18. The docking mechanism according to claim 13 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.