Space Technologies

Satellite Docking System

Mechanically Self-Aligning and Locking

Data Connections

Fluid Transfer

Sensor Feedback on Structural Integrity

Docking Mechanism Concept

Enduraock is developing a small satellite system that offers mechanical, electrical, and fluid connections for ISAM (In-Space Servicing, Assembly, and Manufacturing). The design also incorporates mechanical mialignment error correction for autonomous RPO (Rendezvous and Proximity Operations) docking.

Docking Mechanism Design Specifications

Current Configuration: 10cm X 10cm X 15cm (Design Goal: 1U- 10cm X 10cm X 10cm)

Electrical Interfaces: Type of signal – Ethernet (faster) or Micro-USB protocol – Number of ports for power transfer: 4

Active-2 Spares-2: Number of ports for data transfer- 16

Active-8 Spares-8: Additional contact ports available- 4 – Power required: 12-30 VDC

Permissible Radial Misalignment: +/- 4 mm axially (estimated)

Permissible Yaw Misalignment: +/- 5 degree (estimated)

Permissible Roll Misalignment: +/- 4 degree (between electrical contacts) (estimated)

Mass of Satellite A Connector: 3.75 lb. (estimated) (excludes mass of actuators)

Mass of Satellite B Connector: 2.20 lb. (estimated) (excludes mass of actuators)

Maximum Permissible Tensile Load between the ball and groove: 1100 lb. (estimated)

Maximum Permissible Compressive Load between the ball and groove: 2100 lb. (estimated

Maximum Static Bending Load on axial plane (male cone): 3000 lb.

Maximum Torsional Load: 825 lb.-in (for two pins) (estimated)

Axial Separation Force (Spring Loaded): 80 lb. (estimated)

Robotic End Effector for ISAM

During a previous Phase II SBIR effort through the Department of the Air Force (DAF), Enduralock designed and built a custom end effector for automating the installation of its mechanically locking, high-vibration resistant fasteners. This end effector was designed with ISAM in mind and features a mechanism to lock under the bolt head, retaining the fastener without relying on friction. The end effector’s functionality was demonstrated in a laboratory environment attached to a commercial off-the-shelf (COTS) Yaskawa robotic manipulator. Through an ongoing Tactical Funding Increase (TACFI) contract, Enduralock took the demonstration one step further by developing and incorporating a magazine for storage of the fasteners prior to installation or after removal. Our goal is to adapt our end-effector to a vision- based system to provide for autonomous assembly of structures in space.