Design of Docking Mechanism for Refueling Free-flying 2D Planar Robot

Free-flying robots are considered a valuable and emerging tool to support astronauts in their daily tasks in space facilities. This work presents the design and development of a free-flying robot as well as a self-contained mechanism that allows its docking for storage and tank refuelling. More specifically, this study presents a floating robotic emulation platform for a simulated demonstration of satellite mobility in orbit. Friction-less, levitating, yet flat motion across a hyper-smooth surface characterizes the robotic platform design. Moreover, the docking mechanism has been designed and developed for the free-flying robot to automate the docking and refuelling processes. The mechanism is divided into two main components, one fixed and one placed on the robot, where the major merit of the proposed system is that it addresses both the tank connection subsystem for the refuelling as well as the subsystem for the dock and repel phases. The former is enabled through the use of an actuated coupling support structure between the air tank and the external outlet, while the latter is enabled with the use of an electromagnetic connection support structure. Finally, preliminary hardware developments have been performed for the proposed robotic systems, demonstrating it's usefulness and effectiveness.