Speaker
Description
The space industry has experienced unprecedented growth in recent years, marked by an increasing number of satellites being deployed into Earth's orbit annually. These satellites provide critical services such as telecommunications, imaging, and navigation. However, the rapid expansion of this industry has also led to a significant increase in hazards associated with space debris. Currently, non-functional man-made objects in orbit outnumber operational satellites, posing a substantial collision risk to spacecraft. This paper examines the advancements in active debris removal and in-orbit servicing technologies developed by PIAP Space Sp. z o.o., a Polish aerospace company. The robotic suite consists of components that include robotic manipulator, end effectors, dedicated vision system as well as force and torque sensor. Developed robotic subsystems are used to build new services like in-orbit refuelling. The development is or were performed mainly in the TITAN, EROSS IOD, ORBITA and INORT projects. The objective of the TITAN project is to develop and demonstrate a 7-degrees-of-freedom robotic manipulator system for on-orbit servicing and small debris removal missions. The design of the manipulator is based on scalable joints and boom elements that enable its integration with various systems. Polish Space Research Centre is cooperating in the development of the control subsystem. The targeted technology readiness level is 6. The TITAN manipulator is at the finish of a MAIT phase. Integrated models were subject of functional, TVAC, shock and vibration test campaigns. Project closeout is scheduled for September 2024. TITAN technology is used in subsequent orbital and planetary projects. The Launch Adapter Ring Gripper EM was developed in the EROSS+ project. Further models (named LARIS) are under development in EROSS IOD. The gripper constitutes an end effector for a robotic arm of a servicing satellite and is designed to grasp and clamp interface of a target satellite during the berthing manoeuvre. This enables attitude and trajectory control including deorbiting as well as maintenance and repair operations. The functionality of the LARIS Gripper will be evaluated during the in-orbit demonstration. Important functional test campaign on air-bearing table was performed to corelate contact models and simulation. Series of environmental tests are ongoing. EQM model is currently under development. LARIS is also considered as a base for docking/berthing/securing subsystems. Multiple devices were developed within the ORBITA project. The Multipurpose Servicing Gripper (MULTIS) is mounted on a robotic arm as an end effector. It is intended for conducting upkeeping operations on on-orbit satellites by grappling parts of the target satellites and using interchangeable tools. The vision system for the purpose of launch adapter ring position estimation during rendezvous is based on time-of-flight detector. The calculations of spatial transformations of the technology demonstrator are conducted on dedicated computer which uses parallel computing to expedite processing. The force and torque sensor (FORTIS) is intended to be placed on the end of robotic arm, prior to its end effector. A proprietary controller and software compatible with strain gauge sensor were developed. FORTIS functional and selected environmental tests were finalised in 2023. The INORT project, currently being executed by PIAP Space in collaboration with the Łukasiewicz Institute of Aviation, focuses on the development of innovative European technology for the in-orbit refuelling and servicing of satellites. This technology aims to extend the operational lifespan of satellites, reduce space debris, and achieve cost savings, thereby contributing to more sustainable space missions. The scope of the first phase of INORT project includes market analysis, the definition of system requirements, and the conceptual design of the proposed system, alongside the development of a roadmap for ground-based demonstrations. The final system is expected to integrate several devices developed by PIAP Space. Above mentioned developments are intended to help in providing safer and cleaner space.
