Abstract: A system and method for detecting end of travel in a rotational joint with greater than 360° of travel are provided. The system includes first and second limit switches coupled to the rotational joint for signaling end of travel of the rotational joint in clockwise and counterclockwise directions; a limit switch cam ring configured to actuate the first limit switch at a first rotational position in the clockwise direction and the second limit switch at a second rotational position in the counterclockwise direction, the cam ring configured to rotate in the direction of joint rotation when the rotational joint is in an ambiguity region of joint travel; first and second cam ring return mechanisms for returning the cam ring to a default position after triggering the first and second limit switches, respectively; and an actuation pin mounted to the rotational joint such that the actuation pin follows joint rotation exactly, the actuation pin configured to actuate the cam ring.

Abstract: Provided is a system for cable management in a rotary joint. The system includes a rotary housing that rotates about a rotational axis relative to a stationary housing. The stationary housing has a stationary cavity for allowing a cable to pass through. The system includes a cable management system for managing one or more cables. The cable management system includes a cable cassette attached to the stationary housing, wherein the cable cassette winds the cable around the cable cassette as the rotary joint rotates.

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.

Abstract: Machine vision markers and systems and methods for using and manufacturing machine vision markers are provided. The marker includes a first black target element comprising a black square; a square encoding stripe that extends around a perimeter of and encloses the black square and that is composed of a plurality of square encoding elements collectively encoding a binary data bit sequence encoding identification information about the target object, wherein each respective one of the plurality of square encoding elements is either a black square or a white square representing a data bit of 0 or 1 in the binary data bit sequence, respectively; a white target element comprising a white square ring that extends around a perimeter of and encloses the square encoding stripe; a second black target element comprising a black square ring that extends around a perimeter of the white square ring; and an out of plane white dot post disposed above or below a plane of the marker and positioned centrally on the marker.

Abstract: The present disclosure relates to a robotically controlled satellite refueling tool and associated robotically controlled support and site preparation tools which facilitates on-orbit refueling by teleoperation of fill/drain valves of various designs and dimensions on satellites not originally prepared for on-orbit servicing, through the installation of quick connect safety valves, using vision-based feedback as well as feedback from sensors embedded in the refueling tool to operate a suite of adaptable and adjustable mechanisms. The refueling tool has an open architecture to allow a refueling tool vision system to see the fill/drain valve and the section of the refueling tool that is engaged with the fill/drain valve. The support tools include a blanket cutter tool, a blanket handler tool, a wire cutter tool, a gripper tool, and the site preparation tools include a B-nut removal tool and a crush seal removal tool.

Abstract: The present disclosure relates to a robotically controlled satellite refueling tool and associated robotically controlled support and site preparation tools which facilitates on-orbit refueling by teleoperation of fill/drain valves of various designs and dimensions on satellites not originally prepared for on-orbit servicing, through the installation of quick connect safety valves, using vision-based feedback as well as feedback from sensors embedded in the refueling tool to operate a suite of adaptable and adjustable mechanisms. The refueling tool has an open architecture to allow a refueling tool vision system to see the fill/drain valve and the section of the refueling tool that is engaged with the fill/drain valve. The support tools include a blanket cutter tool, a blanket handler tool, a wire cutter tool, a gripper tool, and the site preparation tools include a B-nut removal tool and a crush seal removal tool.

Abstract: Embodiments of the present disclosure may include a nail removal system with a tube having an open end and a bore with an inner surface, a spring, and a gripping portion with a plurality of fingers. The tube may have a first position and second position. The gripping portion may have an opened position and closed position. The gripping portion may be in the opened position when the tube is in the first position. The plurality of fingers may be in the closed position when the tube is in the second position allowing the fingers to grip the head of a nail. The nail removal system may be operated manually, operated by a drill, or operated automatically using a robot. Advantageously, the nail removal system effectively removes a nail in a surface. A method of removing a nail from a surface using the nail removal system is also provided.

Abstract: A container for dispensing a liquid can include a housing. The housing can have a top wall, a base, and side walls, which form a substantially cuboid shape and a substantially uniform rectangular cross-section. The housing further includes a reservoir forming a portion of an interior of the housing. The reservoir can be configured to store the liquid. An outlet can be formed in the housing and fluidly coupled to the reservoir. A pump can be disposed in the interior of the housing. The pump can be operable to transfer the liquid between the reservoir and the outlet. A method of operating the container for dispensing a liquid includes providing the container. The liquid reservoir portion can be filled. The container can be transported to a predetermined location. The hose can be positioned and the pump can be actuated. The container can then be stored.

Abstract: The present disclosure relates to a robotically controlled satellite refueling tool and associated robotically controlled support and site preparation tools which facilitates on-orbit refueling by teleoperation of fill/drain valves of various designs and dimensions on satellites not originally prepared for on-orbit servicing, through the installation of quick connect safety valves, using vision-based feedback as well as feedback from sensors embedded in the refueling tool to operate a suite of adaptable and adjustable mechanisms. The refueling tool has an open architecture to allow a refueling tool vision system to see the fill/drain valve and the section of the refueling tool that is engaged with the fill/drain valve. The support tools include a blanket cutter tool, a blanket handler tool, a wire cutter tool, a gripper tool, and the site preparation tools include a B-nut removal tool and a crush seal removal tool.

Abstract: The present disclosure relates to a robotically controlled satellite refueling tool and associated robotically controlled support and site preparation tools which facilitates on-orbit refueling by teleoperation of fill/drain valves of various designs and dimensions on satellites not originally prepared for on-orbit servicing, through the installation of quick connect safety valves, using vision-based feedback as well as feedback from sensors embedded in the refueling tool to operate a suite of adaptable and adjustable mechanisms. The refueling tool has an open architecture to allow a refueling tool vision system to see the fill/drain valve and the section of the refueling tool that is engaged with the fill/drain valve. The support tools include a blanket cutter tool, a blanket handler tool, a wire cutter tool, a gripper tool, and the site preparation tools include a B-nut removal tool and a crush seal removal tool.

Abstract: A container for dispensing a liquid can include a housing. The housing can have a top wall, a base, and side walls, which form a substantially cuboid shape and a substantially uniform rectangular cross-section. The housing further includes a reservoir forming a portion of an interior of the housing. The reservoir can be configured to store the liquid. An outlet can be formed in the housing and fluidly coupled to the reservoir. A pump can be disposed in the interior of the housing. The pump can be operable to transfer the liquid between the reservoir and the outlet. A method of operating the container for dispensing a liquid includes providing the container. The liquid reservoir portion can be filled. The container can be transported to a predetermined location. The hose can be positioned and the pump can be actuated. The container can then be stored.