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: 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: An apparatus for shielding a rotary interface to prevent ingress of abrasive media is provided. The apparatus includes a flat metallic ring that is installed between a rotary housing containing a rotating component and a stationary housing containing a stationary component configured to interface with the rotating component to provide rotational motion. The rotary housing is configured to couple to the stationary housing and rotate with respect to the stationary housing when coupled. The flat metallic ring is preloaded into a conical shape when installed between the rotary housing and the stationary housing.

Abstract: A system and method for a dust tolerant robotic interface is provided herein. The system includes: an active side comprising an active side connector body and a passive side comprising a passive side connector body, wherein the active side connector body comprises an active latching feature, wherein the passive side connector body is configured to couple to the active side connector body, the passive side connector body comprising a passive latching feature configured to couple to the active latching feature; and a latching system coupled to the active side connector body, the latching system having a latched and unlatched configuration, the latching system configured to lock the active latching feature to the passive latching feature when the active side and passive side of the system are structurally latched, and the latching system is in the latched configuration.

Abstract: Robotic arms with orientation and grapple mechanisms for payload manipulation are provided. A robotic arm includes a mechanical arm assembly having booms connected by actively driven joints to provide pitch and yaw control at the shoulder, elbow and wrist of the arm. To reduce mass and complexity, according to various embodiments, force moment sensors and/or actuators for active roll and/or yaw control at the end of the arm may be omitted. The orienting mechanism provides the grapple mechanism with passive pitch and yaw control to pivot the grapple mechanism to grasp a payload without having to actively position the end effector to align with an axis of the payload. This enables “soft” capture of the payload by the grapple mechanism. Prior to lifting the payload, the grapple fixture is rigidized by fully retracting the grapple mechanism.

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: There is disclosed a Payload Ejection System (PES) able to store any set of payloads for launch and eject that set of payloads at a controlled speed with a low tumble rate while accommodating any offset centre of mass within a restricted volume. The need for ballasting or balancing is eliminated thus freeing up the design space for these payloads. Insensitivity to centre of mass location is enabled by the use of a deployment hinge assembly arrangement which uses two or more non-parallel folding hinge arrangements that allow for linear motion of the output link in one direction while restricting the motion all other directions. One embodiment of the current PES concept uses four (4) hinge panel assemblies, selected to provide optimal stiffness around the entire mechanism. The stiffness of the PES is integral to managing offset centre-of-mass locations by allowing the mechanism to translate the effective force vector to the center of mass location.

Abstract: There is disclosed a Payload Ejection System (PES) able to store any set of payloads for launch and eject that set of payloads at a controlled speed with a low tumble rate while accommodating any offset centre of mass within a restricted volume. The need for ballasting or balancing is eliminated thus freeing up the design space for these payloads. Insensitivity to centre of mass location is enabled by the use of a deployment hinge assembly arrangement which uses two or more non-parallel folding hinge arrangements that allow for linear motion of the output link in one direction while restricting the motion all other directions. One embodiment of the current PES concept uses four (4) hinge panel assemblies, selected to provide optimal stiffness around the entire mechanism. The stiffness of the PES is integral to managing offset centre-of-mass locations by allowing the mechanism to translate the effective force vector to the center of mass location.

Abstract: There is disclosed a Payload Ejection System (PES) able to store any set of payloads for launch and eject that set of payloads at a controlled speed with a low tumble rate while accommodating any offset center of mass within a restricted volume. The need for ballasting or balancing is eliminated thus freeing up the design space for these payloads. Insensitivity to center of mass location is enabled by the use of a deployment hinge assembly arrangement which uses two or more non-parallel folding hinge arrangements that allow for linear motion of the output link in one direction while restricting the motion all other directions. One embodiment of the current PES concept uses four (4) hinge panel assemblies, selected to provide optimal stiffness around the entire mechanism. The stiffness of the PES is integral to managing offset center-of-mass locations by allowing the mechanism to translate the effective force vector to the center of mass location.

Abstract: There is disclosed a Payload Ejection System (PES) able to store any set of payloads for launch and eject that set of payloads at a controlled speed with a low tumble rate while accommodating any offset centre of mass within a restricted volume. The need for ballasting or balancing is eliminated thus freeing up the design space for these payloads. Insensitivity to centre of mass location is enabled by the use of a deployment hinge assembly arrangement which uses two or more non-parallel folding hinge arrangements that allow for linear motion of the output link in one direction while restricting the motion all other directions. One embodiment of the current PES concept uses four (4) hinge panel assemblies, selected to provide optimal stiffness around the entire mechanism. The stiffness of the PES is integral to managing offset centre-of-mass locations by allowing the mechanism to translate the effective force vector to the center of mass location.