Robotic servicing multifunctional tool
Herein is disclosed a multifunctional tool with replaceable tool tips. The disclosed multifunctional tool may be used as an end-effector on a robotic arm in space. Each tool tip, when in the tool holder, is driven by a common motor. The same motor can also be used to control the orientation of the tool tip about an axis. The tool tips are replaceable in the tool holder by simple and robust means, resulting in a lighter and cheaper multifunctional tool. The tool tips can be variously adapted to perform a variety of functions, including cutting, grasping, drilling, driving, etc. Since the tool may be driven by only one actuator, and the single actuator may be used to drive both the tool and rotation of the tool, mass can be saved. Use of such a multifunctional tool also reduces overall system power requirements, and system complexity.
1. A method for remote robotic servicing, comprising:
a) launching a servicing spacecraft into an orbit to bring it into close proximity to a client satellite to be serviced, the spacecraft comprising
propulsion, guidance and telemetry systems,
a satellite capture mechanism configured to releasably capture the client satellite servicing satellite,
a robotic arm having an end-effector,
a multifunctional tool configured to be releasably grasped by said end-effector,
a suite of tool tips, said multifunctional tool configured to releasably grasp each of said tool tips, said multifunctional tool including a motive source configured to activate said tool tip when the motive source is activated,
a vision system configured to have a field of view containing a portion of the client satellite being releasably captured and at least a portion of the client satellite being serviced by the multifunctional tool,
a computer control system programmed to control movement of said robotic arm and said motive source of said multifunctional tool, and
a communication system configured to allow remote operation of said vision system, said robotic arm and said multifunctional tool;
b) maneuvering the satellite into location in close proximity to the client satellite, deploying the satellite capture mechanism and releasably capturing the client satellite;
c) deploying the robotic arm and instructing the end-effector to releasably grasp the multifunctional tool, instructing the end-effector containing the multifunctional tool to releasably engage a tool tip with the multifunctional tool,
d) engaging that portion of the client satellite to be serviced with the multifunctional tool to service the client satellite; and
e) wherein said communication system is configured to communicate with said computer control system for remote teleoperation control or a mixture of teleoperator and supervised autonomy control of approach to, and capturing of, the client satellite, and
all actions associated with servicing the client satellite using the robotically controlled multifunctional tool.
2. The method according to claim 1 wherein each tool tip comprises;
a) a tool tip stator, and
b) a tool tip rotor rotatable about a first axis relative to said tool tip stator; and
c) said multifunctional tool including a tool holder capable of removably engaging said tool tip, said tool holder comprising
a collet,
a tool tip locker.
wherein when said tool holder engages said tool tip,
i) said tool tip locker restricts rotational and axial movement about said first axis of said tool tip stator relative to said collet, and
ii) said motive source is capable of rotating said tool tip rotor about said first axis relative to said tool tip stator.