ModuLink: A Robotic Manipulation Applique for In-Space Servicing Vehicles

This paper describes a flexible solution for augmenting spacecraft to transform them into robotic in-space servicing vehicles. The concept, referred to as ModuLink, is enabled by low-cost, modular robotic arms and modular active payloads that can be integrated with a variety of spacecraft buses as an applique. A concept of operations is outlined involving grappling a client satellite and manipulating and emplacing a payload module on the client to provide or replace new or lost functionality. The ModuLink system architecture is described with its means of spacecraft integration illustrated by example using a representative vehicle based on the modular ESPA ring platform. A 3D physics-based simulation of the integrated system designed to visualize the concept of operations is also described. The ModuLink architecture would enable modularity for space systems via responsive robotic spacecraft that are configurable for a variety of in-space/on-orbit manipulation tasks. While primarily targeted at robotically retrieving and emplacing modules for enhancing capabilities on unprepared client spacecraft, it is also relevant to other critical applications such as satellite servicing, assembly, refueling, and manufacturing as well as to performing essential manipulation functions of a space tug or space debris mitigation system.