End Effectors for Robotic Space Debris Mitigation

Space debris increasingly poses a threat to satellites and space missions. To address this issue, various mitigation strategies such as active debris removal (ADR), and on-orbit servicing (OOS) are being employed. ADR utilizes specialized systems designed to eliminate defunct satellites and other debris, while OOS focusses on extending the life of satellites. A promising system for such on-orbit operations is the Little Inspection and Servicing Arm (LISA-ODISEE), that is being developed by the Chair of Space Technology, TU Berlin, and the Institute of Structural Mechanics and Lightweight Design, RWTH Aachen, as part of the HOMER-ODISEE project funded by the German Aerospace Center (DLR). LISA-ODISEE features a large number of identical links with angled rotary joints for compact folding and high flexibility. This hyper-redundant design allows the robotic manipulator to fit within the volume of a CubeSat for inspection and servicing satellites as a valuable multi-purpose and multi-mission tool. The LISA-ODISEE manipulator can be equipped with a suitable end effector, depending on the task at hand. The tasks include approach assistance, capture of satellites, inspection, and servicing activities. In this work, we present concepts and design challenges for potential end effectors, specifically designed for the LISA-ODISEE manipulator. The challenges include the need for lightweight construction to minimize the overall mass, a compact form factor, and the requirement to transfer limited torque and forces to the manipulator. Additionally, the end effectors must operate within the power and data constraints while also withstanding the harsh space environment. The end effector concepts are evaluated, leading to the development and production of prototypes at the Fraunhofer Institute for Production Systems and Design Technology IPK. This research aims to eventually extend the lifespan of satellite operations and mitigate space debris, thereby contributing to a safer and more sustainable orbital environment.