Autonomous Rendezvous and Docking of Two 3U Cubesats Using a Novel Permanent-Magnet Docking Mechanism

Abstract

Small spacecraft autonomous rendezvous and docking is an essential technology for future space structure assembly missions. A novel magnetic capture and latching mechanism is analyzed that allows for docking of two CubeSats without precise sensors and actuators. The proposed magnetic docking hardware not only provides the means to latch the Cube-Sats but it also significantly increases the likelihood of successful docking in the presence of relative attitude and position errors. The simplicity of the design allows it to be implemented on many CubeSat rendezvous missions. Preliminary Monte Carlo simulation shows that the proposed docking design leads to successful docking under 3-sigma dispersions for all key system parameters. On the other hand, successful docking is not possible without the aid of the proposed docking subsystem. Future experiments are to be performed at the 3 Degrees of Freedom flat-floor facility at NASA Langley Research Center to demonstrate this novel concept. Extensive simulation and ground testing will provide sufficient confidence that the proposed docking mechanism will perform as expected in the space environment. * Aerospace Engineer, Systems Analysis and Concepts Directorate, Vehicle Analysis Branch

Correction: Self-Assembling Space Architecture: tessellated shell structures for space habitats

“…The TESSERAE assembly and in-orbit deployment plan uniquely combines several existing aerospace technologies. We build on [16], [17] for demonstrating feasibility of magnetic docking approaches, and electromagnetic formation flight [18], [19], for our magnet mediated self-assembly. A temporary, flexible membrane will encapsulate payload elements, and undergo autonomous inflation (building on various previously explored concepts for balloon inflation in aerospace contexts [20], [21]) upon reaching the intended deployment orbit.…”

Ground Demonstration on the Autonomous Docking of Two 3U CubeSats Using a Novel Permanent Magnet Docking Mechanism

“…3, respectively. These expressions are used to approximate the capture volume 5 between the docking subsystems and in the GNC simulations. Herer is the unit position vector from dipole a to dipole b andm is the magnetic dipole moment unit vector.…”

“…The red dot indicates the virtual target location which the follower aims for and the cone represents the virtual basin of attraction associated with the magnetic docking mechanism. Refer to Pei 5 for detailed discussion on the magnetic docking design and analysis.…”

“…The idea to use permanent magnets to perform the alignment and locking of two CubeSats during the final phase of a docking maneuver in order to make the docking process robust in the presence of system uncertainties. A previous paper 5 describes the development and analysis of the docking mechanism.…”

Piece‐wise control of constant electromagnetic moments for spacecraft self‐ and soft‐docking exploiting dynamics conservation

“…Electromagnetic spacecraft docking utilizes inter-craft magnetic force/torque to control relative position and attitude between the docking spacecraft pair. Many organizations, including NASA (National Aeronautics and Space Administration) [13], NUDT (National University of Defense Technology) [14][15][16], CIT (California Institute of Technology) [17], SU (Stanford University) [18], and TMU (Tokyo Metropolitan University) [19] have researched corresponding technologies, and preliminary dynamics and controller have been verified by ground experiments. The dynamics of electromagnetic spacecraft docking are highly nonlinear and coupled with respect to relative motion among magnetic dipoles.…”