Soft-Robotic, Propellant-Free Servicers for LEO Spacecraft

This paper discusses a new spacecraft design for spacecraft servicing operations in low-Earth orbit (LEO) that uses natural forces - namely atmospheric drag and solar radiation pressure - to perform its mission in a fuel-free manner. This approach makes the platform more cost effective since it both doesn't require fuel or a propulsion system, and also can be reusable for many missions. To take advantage of these forces in a useful time-frame, it is necessary for the servicer spacecraft to have a relatively high area-to-mass ratio, which necessitates a different kind of spacecraft design and structure. To this end, we build on previous work on Area-of-effect Softbots (AoES) [1] which were similarly designed with a high area-to-mass-ratio using soft robotic technologies in order to make an actuated large surface area. Furthermore, we investigate the use of electro adhesion which is integrated with the soft-robotic structure for docking to the servicing target upon arrival. The combination of electroadhesion with the conformable large surface area can provide a robust solution to docking with arbitrary targets. This paper outlines the initial design and feasibility studies of the soft-robotic servicer spacecraft. Specifically detailing our initial progress in guidance and control using solar radiation pressure, electroadhesion docking design and testing, and optical navigation performance.