Download - Clean Space - Technologies for ADR
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Technologies for Active Debris Removal
Clean Space
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Guaranteeing the future of space activities by protecting the environment
Objective of the Clean Space Initiative
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debris mitigation
Ecodesign
Evaluation of environmental impacts
active debris removal
We develop technologies to and Earth
15 – 20 M€
10 – 15 M€
15 – 20 M€
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Distribution of Catalogued Objects
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Launch
Phasing
Rendezvous Altitude raising to
>2000 km
Or
Perigee lowering burns (1 to 5)
Capture Target
De-orbit burn
Re-Entry over SPOUA
Initial orbit (300 x 300 km)
Commissioning
Target orbit
Note: initial orbit could be optimised, performances of the UM assumed
The e.deorbit mission
The objective is to remove a large ESA owned object
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Decisions
MBR PRR MDR B1 Kick-off
Phase A
MC
B1 ITT
Phase B1
2014 2015
Capture technique selected for rigid, flexible & re-orbit options
Decision to de-orbit only, with either robotic arm + clamping mech. Or net
Industry choses preferred capture technique
Decision on implementa-tion phase
Technology developments › Capturing
› De-tumbling › Sensors
› GNC
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Phase A overview
Robin Biesbroek
One point
Multiple points
Rigid Flexible
Harpoon ✔ ✔
Robotic arm ✔
✔
Net
✔
✔
Clamping mechanism
✔ ✔
How do we capture ?
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KT design overview
Flexible Option: Rigid Option: Re-orbit Option: Net Robotic arm+clamping Robotic arm+clamping VEGA launch Vega launch Soyuz launch (CP)
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TAS design overview
Flexible Option: Rigid Option: Re-orbit Option: Harpoon Robotic arm+clamping Robotic arm+clamping VEGA launch Vega launch VEGA launch (EP)
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ADS design overview
Flexible Option: Rigid Option: Re-orbit Option: Net Robotic arm+clamping Robotic arm VEGA launch Vega launch VEGA launch (EP)
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Validation philosophy
VERIFICATION
TESTING
SIMULATION
TRL 6 has not been reached by any technology
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The Net
• Throw-nets have been used to capture non-cooperative targets since the antiquities.
• They offer the benefit of being more or less agnostic to target shape and rotation rates.
• They can be launched from a distance • Has the added advantage of distributing loads across the surface of
the target. • Currently two consortia are running two parallel activities to
develop dynamics simulators for the net and to validate them on parabolic flights.
• Nets require the use of tethers for the deorbit itself
• The control of the tether during stabilisation and subsequent burn is probably the biggest challenge.
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The Harpoon
• Harpoons have as long a history as the net does for capturing uncooperative targets.
• Is also quite agnostic to target shape • Is probably quite resistant to different rotation rates. • Can be launched from a distance • You can control where your attachment point will be. • The TRL is currently being advanced to 4/5 under a GSTP
activity.
• The harpoon system also needs to be tethered for the de-orbit burn
• In addition to the control of the tether, the harpoon also needs to be strong enough to transfer all forces through a single point.
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The robotic arm
• Robotic arms have been used in space for a number of applications.
• A robotic arm can be used to grab a satellite by a predefined interface point.
• Once the satellite has been grabbed, a clamping or rigidisation procedure would effectively turn the two spacecraft into a single unit
• This allows more classical control during stabilisation and during the de-orbit
• The biggest challenges lie in the required very close proximity operations around a tumbling target
• and in the high technical complexity of the system.
Canadarm grapples the SpaceX Dragon capsule from the ISS. Credit: NASA
Picture from robotic arm during on-orbit capture of the ASTRA spacecraft by DARPA’s Orbital Express mission. Credit: DARPA
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The clamping mechanism
TRP run on a clamping mechanism, aiming at elaborating a rigid connection between the chaser and the target. TRL5 reached at PDR.
target
chaser Picture from the detailed design of the clamping mechanism proposed by OHB / SENER presented at the IAC2014 Credit OHB
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Conclusions
• Capturing a debris is a challenge which still needs to be faced • Different mechanisms could be used according objective of the mission
and the debris characteristics • No mechanism has reached yet the necessary TRL 6 • Technology activities on several mechanisms will continue in the
coming years to obtain the adequate building blocks to be used in future missions
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KT Flexible Option: net
1. 2 sets of net canisters 2. Net 60 x 60 m -> embraces entire
Envisat + solar panel 3. Net ejection at 70 m @ 2 m/s 4. Closure mechanisms to close net 3
m/s wind up (10 seconds to close) 5. Conversion of rotating motion to
oscillating motion 6. 7 burns for re-entry
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KT net option platform
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KT rigid option: robotic arm + clamping mechanism
1. Rockvis (DEOS) based arm 2. New gripper to grab launcher adapter 3. Clamping mechanism for firm grip 4. Berthed configuration
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KT: rigid option grabbing sequence
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KT: rigid option platform
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KT: reorbit option: Robot arm + clamping mechanism
1. Rockvis (DEOS) based arm 2. New gripper to grab launcher adapter 3. Clamping mechanism for firm grip 4. Berthed configuration
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TAS flexible option: Harpoon
1. 2 harpoons 2. Blade instead of wire. Motoreductor unwinds blade to give 5 – 20 m slack 3. Helium gas to spin up and to eject 4. Blade unwound more 5. 3 burns re-entry
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TAS: flexible option platform
X-band modulator
Fuel tanks
Pressurant tank
SMU
PCDUGPS
Receiver
BatteryGyroscope
PDHU
S-band TRSP
S-band RFDN
X-band RFDN
X-band TWT
X-band EPC
Harpoon
22N thrusters
Solar Array
400N thrusters
22N thrusters
LGA
Star Trackers
SASSAS
LGA
SBA
SBA
GPS
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TAS rigid option: Robot arm + clamping mechanism
Vision System Components (cameras and
pattern projectors)
LAR Capture Jaws
“Ready for Capture”
Light Curtain Sensor
Assemblies
MDA Patent Pending
1. Capture Tool Overview
Alignment Mechanism
(Rotary Joint)
LAR Clamping
Mechanism (Vise)
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3.4 Rigid capture/ MDA
19/05/2015
Ref.:
26 1. Robotic Concept of Operations
2. Berthing a. Step 1: Re-positioning PRIMA (1)
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3.4 Rigid capture/ MDA
19/05/2015
Ref.:
27 1. Robotic Concept of Operations
2. Berthing a. Step 1: Re-positioning PRIMA (2)
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ESA UNCLASSIFIED – Releasable to the Public This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space - 2012, Thales Alenia Space
3.4 Rigid capture/ MDA
19/05/2015
Ref.:
28 1. Robotic Concept of Operations
2. Berthing a. Step 1: Re-positioning PRIMA (3)
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ESA UNCLASSIFIED – Releasable to the Public This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space - 2012, Thales Alenia Space
3.4 Rigid capture/ MDA
19/05/2015
Ref.:
29 1. Robotic Concept of Operations
2. Berthing a. Step 1: Re-positioning PRIMA (4)
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ESA UNCLASSIFIED – Releasable to the Public This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space - 2012, Thales Alenia Space
3.4 Rigid capture/ MDA
19/05/2015
Ref.:
30 1. Robotic Concept of Operations
2. Berthing a. Step 1: Re-positioning PRIMA (5)
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3.4 Rigid capture/ MDA
19/05/2015
Ref.:
31 1. Robotic Concept of Operations
2. Berthing a. Step 1: Re-positioning PRIMA (6)
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ESA UNCLASSIFIED – Releasable to the Public This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space - 2012, Thales Alenia Space
3.4 Rigid capture/ MDA
19/05/2015
Ref.:
32 1. Robotic Concept of Operations
2. Berthing a. Step 1: Re-positioning PRIMA (7)
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ESA UNCLASSIFIED – Releasable to the Public This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space - 2012, Thales Alenia Space
3.4 Rigid capture/ MDA
19/05/2015
Ref.:
33 1. Robotic Concept of Operations
2. Berthing a. Step 1: Re-positioning PRIMA (8)
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ESA UNCLASSIFIED – Releasable to the Public This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space - 2012, Thales Alenia Space
3.4 Rigid capture/ MDA
19/05/2015
Ref.:
34 1. Robotic Concept of Operations
2. Berthing a. Step 1: Re-positioning PRIMA (9)
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ESA UNCLASSIFIED – Releasable to the Public This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space - 2012, Thales Alenia Space
3.4 Rigid capture/ MDA
19/05/2015
Ref.:
35 1. Robotic Concept of Operations
2. Berthing a. Step 1: Re-positioning PRIMA (10)
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TAS: rigid option platform
X-band modulator
Fuel tanks
Pressurant tank
SMU
PCDUGPS
Receiver
Battery
GyroscopePDHU
S-band TRSP
S-band RFDN
X-band RFDN
X-band TWT
X-band EPC
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TAS reorbit option: Robot arm + clamping mechanism
Vision System Components (cameras and
pattern projectors)
LAR Capture Jaws
“Ready for Capture”
Light Curtain Sensor
Assemblies
MDA Patent Pending
1. Capture Tool Overview
Alignment Mechanism
(Rotary Joint)
LAR Clamping
Mechanism (Vise)
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ADS design overview
Flexible Option: Rigid Option: Re-orbit Option: Net Robotic arm+clamping Robotic arm VEGA launch Vega launch VEGA launch (EP)
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ADS Flexible Option: net
1. 2 sets of net canisters 2. Kevlar 3. 30 m hemisphere 4. Net ejection at 50 m @ 2 m/s 5. Closure mechanisms to close net
(10 seconds to close) 6. Unreel tether to 110 m 7. Conversion of rotating motion to
oscillating motion 8. 1 burn for re-entry 9. Min. 200 N needed for stabilisation
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ADS: flexible option platform
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ADS rigid option: Robot arm + clamping ‘fixation’ mechanism
1. Rockvis (DEOS) based arm 2. New gripper to grab launcher adapter 3. Fixation device for firm grip 4. Seated configuration 5. 3 burns for re-entry
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ADS: fixation sequence
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ADS: rigid option platform
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ADS reorbit option: Robot arm
1. Rockvis (DEOS) based arm 2. New gripper to grab launcher adapter 3. Fixation device for firm grip 4. Seated configuration 5. 3 burns for re-entry
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e.Deorbit Phase A