A Scalable Tabletop Satellite Automation Testbed:Design And Experiments

This paper presents a detailed system design and component selection for the Transforming Proximity Operations and Docking Service (TPODS) module, designed to gain custody of uncontrolled resident space objects (RSOs) via rendezvous and proximity operation (RPO). In addition to serving as a free-flying robotic manipulator to work with cooperative and uncooperative RSOs, the TPODS modules are engineered to have the ability to cooperate with one another to build scaffolding for more complex satellite servicing activities. The structural design of the prototype module is inspired by Tensegrity principles, minimizing the structural mass of the modules frame. The prototype TPODS module is fabricated using lightweight polycarbonate with an aluminum or carbon fiber frame. The inner shell that houses various electronic and pneumatic components is 3-D printed using ABS material. Four OpenMV H7 R1 cameras are used for the pose estimation of resident space objects (RSOs), including other TPODS modules. Compressed air supplied by an external source is used for the initial testing and can be replaced by module-mounted nitrogen pressure vessels for full on-board propulsion later. A Teensy 4.1 single-board computer is used as a central command unit that receives data from the four OpenMV cameras, and commands its thrusters based on the control logic.