Autonomous satellite docking system

Abstract

This invention solves problems associated with prior-art soft-dock mechanisms by placing all active components of a soft-dock system on the chaser side of the mechanism, leaving the target side of the mechanism completely passive (i.e., requiring no power expenditure or self-actuated moving parts to operate). In particular, the active components are supported on the end of a flexible cable attached to the probe, or chaser, side of the device. These components act as a sort of spring-loaded “trap.” Once the end of the probe passes into a receptacle on the target side, the mechanism is triggered, engaging it in such a way that it can no longer be pulled out of the receptacle until it is reset. The soft-docking cable may be replaced with a rigid, semi-rigid or jointed post that is used to bring a capture mechanism into engagement with its corresponding receptacle or receiving structure. The magnetic end effector may also be implemented as an electro-magnet, which requires power to maintain the holding force, or a permanent magnet, which captures a target without power. The metallic main target cone may be use a non-metallic cone constructed of fabric, plastic, or other flexible material.

We claim:  
     
         1 - 7 . (Canceled)  
     
     
         8 . An automatically aligned spacecraft docking system, comprising: 
 a multi-point kinematic rigidization system that provides precise, repeatable rotational alignment at the spacecraft-docking interface without over-constraining the interface.    
     
     
         9 . The system of  claim 8 , wherein the rigidization system is based upon three points.  
     
     
         10 . The system of  claim 8 , wherein the rigidization system further includes: 
 a plurality of alignment posts associated with the chase vehicle; and    a plurality of receptacles associated with the target vehicle, one receptacle associated with each post.    
     
     
         11 . The system of  claim 10 , wherein one of the receptacles includes a conical detent pocket operative to constrain its corresponding alignment post in 3 degrees of freedom (DOF).  
     
     
         12 . The system of  claim 10 , wherein one of the receptacles includes a V-shaped groove to constrain its corresponding alignment post in 2 degrees of freedom.  
     
     
         13 . The system of  claim 10 , wherein one of the receptacles includes a flat plane, perpendicular to the axis of the corresponding alignment post.  
     
     
         14 . The system of  claim 10 , wherein each receptacle is located at the bottom of a conical guide ramp.  
     
     
         15 . An automatically aligned spacecraft docking system, comprising: 
 a plurality of alignment posts associated with the chase vehicle; and    a plurality of receptacles associated with the target vehicle, one receptacle associated with each post; and    wherein some or all of the receptacles are differently shaped to constrain its corresponding alignment post in different degrees of freedom (DOF).    
     
     
         16 . The system of  claim 15 , wherein one of the receptacles includes a conical detent pocket operative to constrain its corresponding alignment post in 3 degrees of freedom (DOF).  
     
     
         17 . The system of  claim 15 , wherein one of the receptacles includes a V-shaped groove to constrain its corresponding alignment post in 2 degrees of freedom.  
     
     
         18 . The system of  claim 15 , wherein one of the receptacles includes a flat plane, perpendicular to the axis of the corresponding alignment post.  
     
     
         19 . The system of  claim 15 , wherein each receptacle is located at the bottom of a conical guide ramp.  
     
     
         20 . An automatically aligned spacecraft docking system, comprising: 
 three alignment posts associated with the chase vehicle; and    first, second and third receptacles associated with the target vehicle, each located at the bottom of a conical guide ramp, and each associated with a corresponding one of the posts on the chase vehicle,    wherein:    the first receptacle includes a conical detent pocket,    the second receptacle includes a V-shaped groove, and    the third receptacle includes a flat plane, perpendicular to the axis of the corresponding alignment post.