Low-profile manipulator interface system
View Patent ↗The present disclosure relates to a low mass system for releasably securing a robotic arm to a spacecraft and also securing various payloads to the robotic arm and to each other, permitting the robotic arm to be both moved from one location to another suitably equipped location on a spacecraft to another and to allow the free end of the robotic arm to be secured to any payload also similarly equipped such that this payload may be manipulated by the robotic arm.
1. An interface coupling system for releasably securing a selected object to a spacecraft and securing various payloads to the selected object and to each other, comprising:
a) an active interface assembly including
a first coupling located at its proximal end for structurally attaching it to the selected object,
electrical connections for electrically connecting it to said selected object,
a second coupling located at its distal end,
an active interface assembly latch mechanism;
an active interface assembly alignment mechanism;
a computer control system connected to said active interface assembly latch mechanism;
b) a passive interface assembly including
a first coupling located at its proximal end complementary to said second coupling on the active interface assembly for structurally attaching said passive interface assembly to said second coupling,
a second coupling located at its distal end for affixing said passive interface assembly to a desired object,
a passive interface assembly alignment mechanism complementary to said active interface assembly alignment mechanism;
passive latch features complementary to, and engageable with, said active interface assembly latch mechanism; and
c) a sensor mechanism mounted and configured to sense forces and moments that occur during a sequence of mechanically aligning the active and passive interface assemblies together, said sensor mechanism being connected to said computer control system; and
d) said computer control system being programmed with instructions to use the sensed forces and moments output from said sensor mechanism to control the alignment of said active and passive interface assemblies until they are aligned to initiate a latching sequence to releasably and rigidly lock said active and passive interface assemblies together.
2. The interface coupling system according to claim 1 , wherein said sensor mechanism is mounted in said active interface assembly, and wherein said sensor mechanism does not run through a primary structural load path of the passive and active interfaces or selected object once said latch mechanism latches said active and passive interface assemblies rigidly together.
3. The interface coupling system according to claim 2 , wherein said sensing mechanism is a force moment sensor operably coupled to said active interface assembly alignment mechanism and configured to sense forces and moments on said active interface assembly alignment mechanism during alignment and engagement of said active interface assembly alignment mechanism to said passive interface assembly alignment mechanism.
4. The interface coupling system according to claim 1 , wherein said sensor mechanism is mounted in said passive interface assembly, and wherein said passive interface assembly includes electrical connections configured to connect said sensor mechanism to said computer control system.
5. The interface coupling system according to claim 1 , wherein said sensor mechanism is mounted in said selected object.
6. The interface coupling system according to claim 1 , wherein said selected object is a robotic manipulator.
7. The interface coupling system according to claim 1 , further comprising a sensor system mounted on one of said active or passive interface assemblies, or both of said active and passive interface assemblies for enabling remote operator control of all activities associated with aligning and latching the active and passive interface assemblies together based on feedback from said sensor system.
8. The interface coupling system according to claim 7 , wherein said sensor system comprises any one, or combination of a camera based vision system, radar and LIDAR.
9. The interface coupling system according to claim 1 , wherein said second coupling on said active interface assembly and said first coupling on said passive interface assembly are matched halves of a Hirth coupling.
10. The interface coupling system according to claim 1 , wherein said passive interface assembly mechanism includes one or more elongate alignment pins, and wherein said active interface assembly alignment mechanism comprises one or more elongate alignment sockets having a size and shape to accept said one or more elongate alignment pins.
11. The interface coupling system according to claim 1 , wherein said latch mechanism includes an actuator connected to said computer control system and latch arms wherein once the active and passive interface assemblies have come into sufficient contact, based on feedback from said sensor mechanism, said computer control system instructs the actuator to advance thereby forcing the latch arms outwards and into engagement with said passive latch features within said passive interface assembly to lock the active and passive interface assemblies together.