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A combined docking and grasping device for use with a manipulator arm on a docking vehicle and the like for mechanically connecting a docking vehicle with an orbital payload having a receptacle for receiving the device is described. The device includes a pair of opposing jaw members having opposing serrated surfaces for grasping an object and a triangular cam portion on an outer surface for insertion and interlocking with an orbital payload.
An overview of activities in the automatic rendezvous and docking area is presented. A representative mission scenario is covered. A statement of the problem is made and the requirements for the extraction of relative attitude and position data are delineated. A systems block diagram is included and the integral functions which go to make up an autonomous docking system is described. A system was simulated, and the digital simulation is described along with some representative results of a system based a laser ranging device as the sensor. A television camera as the ranging sensor was also considered, one video based automatic docking scheme is discussed along with some representative results.
A methodology is presented for simulating a docking process involving a rigid body and an unrestrained nonuniform beam in orbit, and the issues that must be faced in the course of producing any such simulation are discussed. An algorithm is produced for the simulation of motions of the unrestrained structure, which necessitates the use of a structural analysis program for the purpose of constructing modal functions. An impulse problem then is solved in order to discover the changes that take place in certain variables in the course of the docking. This information is utilized to determine the initial values of variables used to characterize postdocking motions of the system under consideration, and an algorithm for simulating these motions is created, in which a structural analysis program is again used to produce modal functions. Finally, an extension of the methodology to the simulation of the docking of a rigid body with more complex orbiting structures is discussed.
A methodology for producing simulations of the docking of a rigid spacecraft with any unrestrained flexible structure was studied. A detailed algorithm for the simulation of the docking of a rigid body with a nonuniform unrestrained beam was sought. The values acquired during docking by the variables characterizing the motions of the rigid body and the unrestrained beam were sought.
Design and fabricate test hardware for NASA's George C. Marshall Space Flight Center (MSFC) are reported. A docking device conceptually developed was fabricated, and two docking targets which provide high and low mass docking loads were required and were represented by an aft 61.0 cm section of a Hubble space telescope (ST) mockup and an upgrading of an existing multimission modular spacecraft (MSS) mockup respectively. A test plan is developed for testing the hardware.
Flight experiments to verify the Laser Docking System Radar are discussed. The docking requirements are summarized, and the breadboarded hardware is described, emphasizing the two major scanning concepts being utilized: a mechanical scanning technique employing galvanometer beamsteerers and an electronic scanning technique using an image dissector. The software simulations used to apply hardware solutions to the docking requirements are briefly discussed, the tracking test bed is described, and the objectives of the flight experiment are reviewed.
A prototype docking mechanism for the Space Station was designed and fabricated for NASA. This docking mechanism is actively controlled and uses a set of electromechanical actuators for alignment and load attenuation. Dynamic tests are planned using the Marshall Space Flight Center's 6-DOF Motion Simulator. The proposed tests call for basic functionality verification as well as complete hardware-in-the-loop docking dynamics simulations.
Report contains description and drawings of conceptual docking mechanism joining Space Shuttle orbiter with proposed Space Station. New version saves considerable weight. Docking module left on Space Shuttle after assembly, and only docking mechanism carried aboard Space Shuttle.
The primary purpose of the OMV is to dock with orbiting payloads and then either transfer them to a different orbit or return them to the Space Shuttle for servicing. Some such missions will involve docking with payloads equipped with a Flight Support System (FSS) type of interface; an example is the Hubble Space Telescope (HST). The design and development of a mechanism to be used for testing this docking concept on the NASA-Marshall test beds is described. The test results to date are also presented.
Due to an increase in spacecraft traffic forecasted for the Space Station era, researchers are investigating manual control and other aspects of docking operations with hopes of increasing safety, productivity, and likelihood of success while decreasing cost. Experiments have been performed which revealed the effect of approach velocity, in-flight anomalies, and control mode. Displays have been designed to enable flight planners to more easily overcome the difficulties presented by orbital mechanics. Improved understanding of human factors in the docking mission and other orbital maneuvers will play a significant role in design tradeoffs concerning thruster size, docking fixture style and mass, and on-board trajectory planning displays. Incorporating both empirical and analytic results into current and future planning of missions occurring not only in earth orbit, but also for missions in lunar and Mars orbit, will expand the performance envelopes of the astronauts who participate in these missions.
One of the foreseen missions of the HERMES spacevehicle is the servicing to the Columbus Free Flying Laboratory (MTFF). Docking between the two spacecraft is a critical operation in which the Docking Mechanism (DM) has a major role. In order to analyze and assess robustness of initially selected concepts and to identify suitable implementation solutions, through the investigation of main parameters involved in the docking functions, a multipurpose model of DM was developed and tested. This paper describes the main design features as well as the process of calibrating and testing.
The Autonomous Docking Ground Demonstration is an evaluation of the laser sensor system to support the docking phase (12 ft to contact) when operated in conjunction with the guidance, navigation, and control (GN&C) software. The docking mechanism being used was developed for the Apollo/Soyuz Test Program. This demonstration will be conducted using the 6-DOF Dynamic Test System (DTS). The DTS simulates the Space Station Freedom as the stationary or target vehicle and the Orbiter as the active or chase vehicle. For this demonstration, the laser sensor will be mounted on the target vehicle and the retroflectors will be on the chase vehicle. This arrangement was chosen to prevent potential damage to the laser. The laser sensor system, GN&C, and 6-DOF DTS will be operated closed-loop. Initial conditions to simulate vehicle misalignments, translational and rotational, will be introduced within the constraints of the systems involved.
Technology for manned space flight is mature and has an extensive history of the use of man-in-the-loop rendezvous and docking, but there is no history of automated rendezvous and docking. Sensors exist that can operate in the space environment. The Shuttle radar can be used for ranges down to 30 meters, Japan and France are developing laser rangers, and considerable work is going on in the U.S. However, there is a need to validate a flight qualified sensor for the range of 30 meters to contact. The number of targets and illumination patterns should be minimized to reduce operation constraints with one or more sensors integrated into a robust system for autonomous operation. To achieve system redundancy, it is worthwhile to follow a parallel development of qualifying and extending the range of the 0-12 meter MSFC sensor and to simultaneously qualify the 0-30(+) meter JPL laser ranging system as an additional sensor with overlapping capabilities. Such an approach offers a redundant sensor suite for autonomous rendezvous and docking. The development should include the optimization of integrated sensory systems, packaging, mission envelopes, and computer image processing to mimic brain perception and real-time response. The benefits of the Global Positioning System in providing real-time positioning data of high accuracy must be incorporated into the design. The use of GPS-derived attitude data should be investigated further and validated.
NASA Marshall Space Flight Center (MSFC) has developed and tested an engineering model of an automated rendezvous and docking sensor system composed of a video camera ringed with laser diodes at two wavelengths and a standard remote manipulator system target that has been modified with retro-reflective tape and 830 and 780 mm optical filters. TRW has provided additional engineering analysis, design, and manufacturing support, resulting in a robust, low cost, automated rendezvous and docking sensor design. We have addressed the issue of space qualification using off-the-shelf hardware components. We have also addressed the performance problems of increased signal to noise ratio, increased range, increased frame rate, graceful degradation through component redundancy, and improved range calibration. Next year, we will build a breadboard of this sensor. The phenomenology of the background scene of a target vehicle as viewed against earth and space backgrounds under various lighting conditions will be simulated using the TRW Dynamic Scene Generator Facility (DSGF). Solar illumination angles of the target vehicle and candidate docking target ranging from eclipse to full sun will be explored. The sensor will be transportable for testing at the MSFC Flight Robotics Laboratory (EB24) using the Dynamic Overhead Telerobotic Simulator (DOTS).
In November 1990 the Autonomous Rendezvous & Docking (AR&D) system was first demonstrated for members of NASA's Strategic Avionics Technology Working Group. This simulation utilized prototype hardware from the Cruise Missile and Advanced Centaur Avionics systems. The object was to show that all the accuracy, reliability and operational requirements established for a space craft to dock with Space Station Freedom could be met by the proposed system. The rapid prototyping capabilities of the Advanced Avionics Systems Development Laboratory were used to evaluate the proposed system in a real time, hardware in the loop simulation of the rendezvous and docking reference mission. The simulation permits manual, supervised automatic and fully autonomous operations to be evaluated. It is also being upgraded to be able to test an Autonomous Approach and Landing (AA&L) system. The AA&L and AR&D systems are very similar. Both use inertial guidance and control systems supplemented by GPS. Both use an Image Processing System (IPS), for target recognition and tracking. The IPS includes a general purpose multiprocessor computer and a selected suite of sensors that will provide the required relative position and orientation data. Graphic displays can also be generated by the computer, providing the astronaut / operator with real-time guidance and navigation data with enhanced video or sensor imagery.
TRW has conducted an extensive Contact Dynamics Test Program (CDTP) of the Three Point Docking Mechanism (TPDM). The CDTP tested the ability of the TPDM latches to capture and automatically dock to target spacecraft. The target selected was the Hubble Space Telescope (HST). Mock ups of the TPDM with its three latches and the docking interface of the HST were constructed at the Marshall Space Flight Center (MSFC) in Huntsville, Alabama for use in the tests. The tests were performed at the Flat Floor and Six Degree of Freedom (6-DOF) facilities at MSFC.
Electro-optical sensors provide unique and critical functionality for space missions requiring rendezvous, docking, and berthing. McDonnell Douglas is developing a complete rendezvous and docking system for both manned and unmanned missions. This paper examines our sensor development and the systems and missions which benefit from rendezvous and docking sensors. Simulation results quantifying system performance improvements in key areas are given, with associated sensor performance requirements. A brief review of NASA-funded development activities and the current performance of electro-optical sensors for space applications is given. We will also describe current activities at McDonnell Douglas for a fully functional demonstration to address specific NASA mission needs.
Proposed optoelectronic system for guiding vehicle in approaching and docking with another vehicle includes active optical targets (flashing lights) on approached vehicle synchronized with sensor and image-processing circuitry on approaching vehicle. Conceived for use in automated approach and docking of two spacecraft. Also applicable on Earth to manually controlled and automated approach and docking of land vehicles, aircraft, boats, and submersible vehicles, using GPS or terrestrial broadcast time signals for synchronization. Principal advantage: optical power reduced, with consequent enhancement of safety.