Abstract: Robotic systems, methods, and devices for grappling and actuating a pay load are provided. A robotic end effector device includes a grapple mechanism for capturing and rigidizing a pay load through a grapple fixture. The grapple mechanism grapples a probe of the grapple fixture and retracts the probe to bring a first coupling element of the grapple fixture into mating connection with a second coupling element on the grapple mechanism. Each coupling element includes a plurality of radially-disposed teeth and notches which are configured to mate with the notches of the other coupling element. The grapple mechanism includes a pay load present sensor for sensing the probe is present in the grapple mechanism to initiate grappling and a calibration sensor for tracking position of a moving component of the grapple mechanism. Retraction of the moving component is stopped at a target preload position based on the position tracking.

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.