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HOTDOCK: Design and Validation of a New Generation of Standard Robotic Interface for On-Orbit Servicing

Letier, Pierre and Siedel, Torsten and Deremetz, Mathieu and Pavlovskis, Edgars and Lietaer, Benoit and Nottensteiner, Korbinian and Roa Garzon, Máximo Alejandro and Sánchez Garcia, Juan and Corella, Javier Luis and Gancet, Jeremi (2020) HOTDOCK: Design and Validation of a New Generation of Standard Robotic Interface for On-Orbit Servicing. In: 71st International Astronautical Congress, IAC 2020. IAF. International Astronautical Congress, IAC 2020, 12-14 October 2020, Cyberspace. ISSN 0074-1795.

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This paper presents the design and validation of HOTDOCK, a new generation of standard interface for on-orbit and planetary applications providing mechanical, power, data and thermal coupling capabilities between payloads and spacecraft, between spacecraft modules and as end-effector of robotic manipulators. The provision of standard interfaces in the design of spacecraft buses and payload modules will become essential to enable the emerging LEO/GEO on-orbit robotic servicing market. That includes payload management for spacecraft maintenance and reconfiguration, large structures assembly in space and de-orbiting operations. Standard interfaces are also highly interesting for supporting robotic operations in future deep space missions (LOP-G, Moon and Mars surface operations). HOTDOCK features a compact and fully integrated androgynous and 90-degree symmetrical design. The external form-fit geometry supports mating trajectories in a cone of up to 130-degrees, allowing for simultaneous connection of three orthogonally mounted interfaces. The unique patented coupling mechanism, along the circumference, allows stiff mechanical structural coupling with high load transfer. A central connection plate, equipped with spring-loaded POGO pin connectors, offers re-configurable and switchable electrical power as well as bi-directional high rate data transfer between connected subsystems. HOTDOCK can be optionally equipped with a fluidic transfer capability for thermal cooling on top of the regular thermal conduction between two units. In its nominal configuration called Active, HOTDOCK provides an actuation mechanism for the mating as well as integrated control and interface electronics. A purely passive version, without active components, has also been developed to offer a lower cost, volume and mass version. Both Active to Active and Active to Passive connections are possible, allowing in each case power, data and thermal transfer capabilities. HOTDOCK has been adopted as the reference Standard Interface in three projects of the European Commission’s H2020 Space Robotic Technologies cluster(OG8 PULSAR, OG9 MOSAR and OG11 PRO-ACT). They respectively address large structure assembly in space, modular satellite reconfiguration, and collaborative robotic planetary operations. More than 50units are currently being produced for integration in several ground demonstrators (TRL 4). Furthermore, HOTDOCK is used as part of the Michigan Technical University “T-REX” project awarded by NASA (BIG Idea Challenge).

Item URL in elib:https://elib.dlr.de/139963/
Document Type:Conference or Workshop Item (Lecture)
Title:HOTDOCK: Design and Validation of a New Generation of Standard Robotic Interface for On-Orbit Servicing
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Letier, PierreSpace Application ServicesUNSPECIFIED
Siedel, TorstenSpace Applications ServicesUNSPECIFIED
Deremetz, MathieuSpace Applications ServicesUNSPECIFIED
Pavlovskis, EdgarsSpace Applications ServicesUNSPECIFIED
Lietaer, BenoitSpace Applications ServicesUNSPECIFIED
Nottensteiner, Korbiniankorbinian.nottensteiner (at) dlr.deUNSPECIFIED
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Gancet, JeremiSpace Applications ServicesUNSPECIFIED
Date:October 2020
Journal or Publication Title:71st International Astronautical Congress, IAC 2020
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Space robotics, standard interface, mating interface, on-orbit servicing, on-orbit assembly, planetary exploration, robotic manipulation, thermal management
Event Title:International Astronautical Congress, IAC 2020
Event Location:Cyberspace
Event Type:international Conference
Event Dates:12-14 October 2020
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:27 Dec 2020 23:50
Last Modified:09 Mar 2022 13:26

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