Advancements of a MicroSat for On-Orbit Satellite Surgery

The concept of a highly articulated microsat to perform in-space construction, assembly, and repair is emerging due to advancements in microelectronics, robotics, and microsatellite technology. The combination of these has led to investigating foundational elements for conducting remote space robotic missions that will enable machines to build machines. The idea goes beyond robotic systems designed to mate specialty-crafted space modules or in-space 3D printed structures. It addresses a means to work with typical flight hardware in this remote, lifeless environment. The work presented in this research has focused on creating a semi-autonomous platform that shares both autonomous GN&C operations with man-in-the-loop telerobotics. The testbed platform contains a means for target capture, attachment, and for conducting technician-like mechanical tasks that include gripping, cutting, and working with fasteners with an interchangeable tool set. As the system evolves, evaluation tests have shown many aspects are feasible such as cutting thermal insulation and wire. For instance, the system can reach into a harness, isolate a 26 ga. wire, and cut it. It has also been able to perform small cuts in thermal insulation membranes. Fasteners are proving to be more challenging due to robotic tool alignment and management of forces