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Description
This technology is a magnetic docking system designed to mate two vehicles in space. A spacecraft using the system would move to a position close to its intended mating port and remain there while a magnetic capture ring is extended. Once the capture ring engages the mating interface, the ring retracts to a position where a structural system is engaged to solidly join the two vehicles. Separation of the two spacecraft occurs by simply releasing the structural attachment.
Potential applications include, but are not limited to, mating of submersible vehicles/elements, assembly of space based structures, and payload handling devices. Any application requiring vehicles/assemblies to be aligned and structurally mated either temporarily or permanently would benefit from this technology.
Benefits
Unique Load-Sensing Capabilities:
With prior mechanical docking assemblies, the action of forcing two vehicles together, particularly in space, can result in damage to one or both vehicles involved. This system eliminates the need to "drive" the vehicles together. Instead, it reaches out with magnets for capture, uses load-sensing feedback for alignment, and draws the mating vehicles together. The load cells and closed loop feedback control system literally reach out for the mating interface and "feel" or sense the loads and moments imparted during contact.
Automatic Control:
Computer controlled electromechanical actuators extend and retract the magnetic capture ring in a 6 degree-of-freedom arrangement with a unique load-sensing ring that provides force feedback. This feedback allows for real-time position updating to the capture ring and allows a "soft" mating to be achieved.
Readily Available Components:
The components used for this invention are all easily accessible and readily available.
Potential Application(s)
Factory Automation:
The technology could be used in an assembly line for inserting and mating parts. The load-sensing capabilities allow the system to correct its movement (like a human hand). It would be very useful in assembly situations where the position requirements of the tool are not precisely known. The capture ring has the ability to move objects weighing up to 700 pounds. The system, with modification at the interface, would act as a 6 degree-of-freedom robot arm. It must also have the ability to passively correct for misalignment.
Sub-sea Remotely Operated Vehicles:
This technology could also find application in the sub-sea remotely operated (ROV) vehicle industry. ROVs are primarily used in the offshore oil industry for performing mechanical operations at depths beyond the range of human divers. The load-sensing capabilities of this device may be of use in dark, murky undersea environments where the visibility is poor.
Satellite Retrieval:
This technology is a magnetic docking system designed to mate two vehicles in space. A spacecraft using the system would move to a position close to its intended mating port and remain there while a magnetic capture ring is extended. Once the capture ring engages the mating interface, the ring retracts to a position where a structural system is engaged to solidly join the two vehicles. Separation of the two spacecraft occurs by simply releasing the structural attachment.
Technology Commercialization Status
Development Status:
A working prototype was developed.
Options for Commercialization:
The invention, "Androgynous, Reconfigurable Closed Loop Feedback Controlled Low Impact Docking System With Load Sensing Electromagnetic Capture Ring," is protected under
U. S. patent number 6,354,540 issued on March 12, 2002. The patent is owned by the United States of America and was developed by the National Aeronautics and Space Administration.
Contact for Technical Information:
NASA Technology Transfer & Commercialization Office
NASA Johnson Space Center
2101 NASA Road 1, Mail Code HA
Houston, Texas 77058
Phone: (281) 483-1749
Fax: (281) 244-8452
Email: commercialization@jsc.nasa.gov
Website: http://technology.jsc.nasa.gov
Contact
If your company is interested in this technology please contact:
JSC Technology Transfer
Phone: (281) 483-3809
Public Release Date: 5/25/2000
Reference Number: TOP9-127
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