Structural Model of Robot-Manipulator for the Capture of Non-cooperative Client Spacecraft

  • D. Humennyi
  • I. Parkhomey
  • M. Tkach
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 754)


Reorientation, service operation of client spacecrafts etc. are very actual tasks nowadays. Most of such spacecrafts are non-cooperative. Although service operations of these satellites were held before, they are not fully automated. However, docking in manual mode needs huge amount of time and human aboard. That makes impossible to carry out the required number of service operations. In current work it is represented conceptual model of the robot - manipulator for capture and maintenance of non-cooperative client spacecraft. Mechanism of collet effector was proposed for this purpose. Payload Adapter interface PAS 1666 S, PAS 1194 C, PAS 1666 MVS, PAS 1184 VS was chosen as a docking point, because of this interface’s convenience and prevalence. Proposed mechanism allows to work in conditions of client spacecraft’s linear and angular dynamic position errors in a range of ±5° per minute and ±0.1 meters per minute respectively. This is achieved by design of the robot-manipulator. Problem of jogless docking and methods of shock prevention are examined. In addition, the berthing and girth operations need axes coincidence of non-cooperative client spacecraft and service spacecraft. Having this in mind, phases of berthing and girth are described and main functions of service spacecraft’s control system for solving this problem are considered.


Payload system Collet effector Telescopic console Service spacecraft Docking procedure 



This publication would not be prepared without consultation of colleagues from SOE “Пiвдeннe”, PrJSC “HBК КУPC” and Department of Technical Cybernetics NTUU “Igor Sikorsky KPI”.


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2019

Authors and Affiliations

  1. 1.National Technical University of Ukraine “Igor Kyiv Polytechnic Institute”KyivUkraine

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