Abstract: A robotically-compatible interface system for providing auxiliary services to payloads is provided. The system includes a passive mating including an alignment plate and a passive-side auxiliary service connector coupled to the alignment plate and an active mating assembly including a torque input shaft, a lead screw coupled thereto rotating in response to received torque input, a mating plate translating via rotation of the lead screw, and at least one active-side auxiliary service connector coupled to the mating plate, the auxiliary service connectors configured to mate and transfer fluid or power. Translation of the plates aligns the active and passive mating assemblies parallel to one another and the at least one active-side auxiliary service connector and at least one passive-side auxiliary service connector are coarsely or substantially aligned. Rotation of the lead screw after alignment further translates the plates such that the service connectors mate.

Abstract: Systems, methods, and devices for robotic capture of an object are provided. A system for robotic-based capture of a free flyer object includes a grapple fixture for mounting to the free flyer object and an end effector for capturing the free flyer object by interfacing with the grapple fixture. The grapple fixture includes a base and a deflectable probe. The end effector includes a probe guiding surface for deflecting and guiding a probe tip of the probe through an opening in the probe guiding surface and into a grappling position. The end effector includes a probe sensing element for sensing when the probe tip is in the grappling position and triggering a capture mechanism. The capture mechanism grapples the probe tip and an actuator retracts the capture mechanism to a predetermined position to establish a load-bearing interface between the free flyer object and the end effector.