DESCRIPTION

Field of invention

The invention proposes a modular, scalable, and reconfigurable space infrastructure and a process to assemble and integrate large structures in space, thus enabling a faster and less expensive implementation of new services and products in response of market demand.

Background of the invention and technical problem to be solved

The invention proposes a reconfigurable infrastructure that adapts to new market demands. The modularity offered by the building blocks, such as auxiliary trusses and standard interfaces will allow the infrastructure to scale as needed as well as to serve as a platform for providing different services.

Moreover, the invention proposes a method to reconfigure the purpose and size of the platform according to the changes, such as customer’s new requirements and emerging services that needs timely deployment, to easily adapt to changing market demands. The invention shortens the deployment time from the classical approach of building new hardware tied to specific mission requirements. Additionally, it allows sending component hardware in subsequent launches to accomplish certain highly specific missions, thus reducing the time and cost of setting up a new infrastructure in space.

The present invention proposes an infrastructure in space (LEO, GEO, Moon’s orbit, etc.) that can be scaled and reconfigured to provide a wide selection of services when needed. It also allows modularity, making possible different shapes and lengths of the platform, thus increasing the number of possible customers and applications.

This invention includes a robot capable of capturing and replacing building blocks to create the infrastructure. It can also move and mate new elements in the infrastructure.

The steps to place and integrate the infrastructure in space are:

1 . The initial stacked configuration (master truss, auxiliary truss, solar panels and robot) reaches the desired orbit. 2. The robot attaches to the auxiliary truss using its robotic arms and end effectors. Then, the robot places the auxiliary truss in the desired position (next to the master truss) and is attached using the standard interface system.

3. Once the truss is placed, the deployment sequence starts, and it can be made to any length up to its maximum length as the market demand calls for.

4. The robot attaches the solar panels using its robotic arms and end effectors into the desired positions and is attached using the standard interface. Then the deployment sequence starts.

5. The robot docks to the master truss and each subsystem starts the commissioning phase.

6. Operational life begins.

The infrastructure geometry and/or purpose can be reconfigured and/or scaled at any time by the robot using its robotic arms, different end effectors, end tools, and the standard interface system. Depending on the mission needs, the invention can: a) Scale up and enlarge the platform as needed, by connecting new infrastructures and third-party modules using the standard interface system. In this case, the robot undocks from the master truss, captures new auxiliary trusses and matches them with the already existing ones, and finally the robot docks to the infrastructure. b) Reconfigure itself to host different types of infrastructures, payloads, and modules, accommodating their size and requirements. In this case, the robot detaches the specific parts of the infrastructure with its robotic arms and docks them in the desired location using the standard interface system. This enables the infrastructure to offer different services and applications. c) Replace/repair specific damaged trusses, thanks to the modular design that allows interchangeability of elements. This modularity also enables rejuvenating truss segments or extending the infrastructure’s operational life by launching new/upgraded truss segments and replacing the former trusses using the robot’s robotic arms and the specific end effectors for each case.

The present invention can offer several services thanks to its reconfigurable and scalable infrastructure. Initially, the invention is designed to serve as a space infrastructure able to assemble and integrate large spacecraft and structures in space. When reconfiguring and scaling the initial infrastructure, several potential identified services can be provided:

1. Solar panels field: the infrastructure can be reconfigured with deployable solar panels using the robot and the standard interface system to mate them with the infrastructure, fulfilling the power requirements for other modules.

2. Orbital tanker facility: another configuration is possible if tankers are integrated on the auxiliary trusses via the robot and the standard interface system to supply fuel for other space vehicles docked in the infrastructure.

3. Habitational modules: in this case, the trusses can be reconfigured in a cross-like geometry to integrate habitable modules and maximize the number of astronauts in the infrastructure using the robot and the standard interface system. Other geometries are also possible with a different number of truss arms extending outwards from the master truss. A combination with a solar panels field can satisfy the power requirements needed.

4. Debris recycling facility: specific modules for recycling debris can be integrated using the robot and the standard interface system forming a recycling chain. This scenario can be supervised by human presence in space through the habitational modules attached to the infrastructure.

5. Earth observation: specific modules can be integrated for Earth observation as well in the nadir. Like the scenario above, this one can also be complemented with a human presence with habitational and/or scientific modules and a solar panels field to satisfy the power requirements needed.

Description of the invention

It is object of the invention a reconfigurable, modular, and scalable space infrastructure which provides a large diversity of services on demand in space, comprising a configurable master truss for providing housing systems of the space infrastructure and versatility to several services through different configurations; at least one scalable auxiliary truss in communication with the master truss, responsible for providing the structural frame, power and data to the parts of the space system, also scalability, modularity and reconfigurability; a space service robotic vehicle responsible for capturing, transporting, and mating at least the master truss and auxiliary truss of the space infrastructure and essential for the scalability and reconfigurability depending on the customer’s necessities, where the space service robotic vehicle comprises robotic arms and end effectors which are configured to change the elements of the space infrastructure; space modules configured to house and perform different services depending on the requirements, for habitational, commercial and/or scientific purposes, besides providing power or fuel for the space infrastructure; solar panels responsible for collecting the power required for the space infrastructure; a standard interface for connecting the master truss, the auxiliary truss, and the robotic arms to the robotic vehicle supporting modular in-space assembly, module reorganization and disassembly.

In the reconfigurable, modular, and scalable space infrastructure of the invention, the space service robotic vehicle additionally comprises a standard connection interface with the space platform, payloads and modules configured to transfer power, data and fluids between the robot and the docked object; solar panel responsible for providing electric power; propellant tanks : responsible for storing propellant; secondary thrusters for the fine control of the robot; and primary thrusters for propelling the robot large distances.

In the reconfigurable, modular, and scalable space infrastructure of the invention, the standard interface is a quick disconnect electromechanical interface device that enables several connections that comprises an androgynous design comprising mechanical, electrical power, fluid and data connectors, load effectors and visual, thermal, fluid and positioning sensors to fulfil the connection necessities.

The reconfigurable, modular, and scalable space infrastructure of the invention comprises at least one of third-party modules and payloads to be chosen between earth observing equipment, habitational module, and space telescope.

In the reconfigurable, modular, and scalable space infrastructure of the invention the robotic arms comprise the connection and docking interface in the two ends providing the interchange capability and thus enabling their replacement and reconfiguration and scalability of the infrastructure and space elements, and consequently expanding the operations capability.

In the reconfigurable, modular, and scalable space infrastructure of the invention the dual robotic arms are configured to be attached to any standard interface system and to move around the infrastructure, minimizing costs and the execution time for reconfiguration and changes.

In the reconfigurable, modular, and scalable space infrastructure of the invention the master truss comprises a structure: responsible for providing the structural frame; electrical power system: responsible for managing the power generation, storage and distribution; command data handling system responsible for managing all the data received from other subsystems and for performing the calculations needed for the correct functioning of the station; propulsion system: responsible for managing the fuel tanks, fuel distribution, and thrusters. It receives data from the Command Data Handling System to know when to turn them on or off; avionics: responsible for managing sensors and other electronic components; guidance navigation and control responsible for performing the necessary calculations to maintain the station on the correct orbit, as well as on the correct attitude; telemetry and telecommunication control responsible for the communications part of the mission, manages the antennas on the station as well as the data sent to and received from the Ground Segment; and thermal control system responsible for maintaining the right temperature.

In an embodiment of the auxiliary truss of the reconfigurable, modular, and scalable space infrastructure, said auxiliary truss comprises a fixed truss.

In another embodiment of the auxiliary truss of the reconfigurable, modular, and scalable space infrastructure of the invention, said auxiliary truss comprises: one rigid part at the center, a deployable part, located at both sides of the rigid part, configured to be unfolded during a deployment, and a deployment mechanism.

In another embodiment of the auxiliary truss of the reconfigurable, modular, and scalable space infrastructure of the invention, said auxiliary truss comprises a plurality of unassembled components configured to be assembled in space.

Brief drawings description

Figure 1 . Shows the structure of the master truss with its propellant and pressurant tanks.

Figure 2. Shows a concept of the fixed truss

Figure 3.1 Shows a first embodiment of the auxiliary truss.

Figure 3.2 Shows the first embodiment of the auxiliary truss of figure 3.1 in a deployed state.

Figure 4.1 Shows a second embodiment of the auxiliary truss

Figure 4.2. Shows the first embodiment of the auxiliary truss of figure 3.1 in a deployed state.

Figure 5. Different concepts of the solar panels configuration

Figure 6. Standard Interface demo concept

Figure 7 shows a perspective view of the space infrastructure in space object of the invention.

Figure 8 shows a perspective view of the space service robotic vehicle of the space infrastructure in space object of the invention.

The list of reference numbers used in the drawings is reproduced next:

101. master truss,

102. auxiliary truss,

103. solar panel

104. robotic vehicle,

105. Earth-observing equipment

106. segmented space telescope,

107. habitational module

108. rigid part,

109. deployable part,

201 . end effectors,

202. robotics arms,

203. connection and docking interface,

204. solar panel,

205. propellant tanks,

206. secondary thruster,

207. primary thruster, and

208. standard interface.

Preferred embodiment of the invention

The invention proposes a system for a scalable and reconfigurable space infrastructure that comprises a set of building blocks.

The first building block is a master truss (101) configured to house systems of the space infrastructure, these systems are: telecommunications with ground, electronics, electric power management, and propulsion system to maintain the infrastructure at the right altitude.

The master truss (101) takes care of the health of the entire infrastructure, controlling and maintaining the right conditions during the mission’s lifetime. It also communicates with the ground via telemetry and telecommands, makes orbital corrections and hosts a space service robotic vehicle (104) when it is not operating. Several subsystems are involved to achieve this goal: The master truss (101) comprises:

- Structure: responsible for providing the structural frame.

- Electrical Power System: responsible for managing the power generation, storage and distribution.

- Command Data Handling System: responsible for managing all the data received from other subsystems and for performing the calculations needed for the correct functioning of the station.

- Propulsion System: responsible for managing the fuel tanks, fuel distribution, and thrusters. It receives data from the Command Data Handling System to know when to turn them on or off.

- Avionics: responsible for managing sensors and other electronic components.

- Guidance Navigation and Control: responsible for performing the necessary calculations to maintain the station on the correct orbit, as well as on the correct attitude.

- Telemetry and Telecommunication Control: responsible for the communications part of the mission, manages the antennas on the station as well as the data sent to and received from the ground segment.

- Thermal Control System: responsible for maintaining the right temperature.

There are several concepts of the master truss (101) that can be integrated into the space infrastructure depending on the market necessities. One of these examples is a larger truss with all the main subsystems and propellant tanks incorporated, where the auxiliary trusses are docked in a linear way. Another example is a multi-sided central module, where the auxiliary trusses can be attached creating a star-shaped structure with three arms. This versatility allows the infrastructure to adopt different configurations for a wide number of applications and space services, with the possibility of reconfiguring or scaling in a modular way.

Another building block is at least one auxiliary truss (102): responsible for providing the structural frame, scalability and modularity for the infrastructure, and power and data to the different parts of the space system and third-party payloads/modules;

To provide reconfigurability, scalability and modularity, there are several concepts of auxiliary trusses (102) that can be integrated into the space infrastructure. One of the options considered is a fixed truss, which can offer a more rigid structural frame for larger modules and third-party payloads or special orbital tankers. Modules and spacecrafts can be docked, while other trusses can attach to it.

Other forms of prebuilt auxiliary trusses (102), which are sent up into space fully formed, can include trusses with a shell built around them which would enable a hallway segment in which astronauts can pass through as it can provide pressurized cabin pressure and Environmental Control and Life Support System controls.

To optimize the launcher capabilities, another form of auxiliary trusses (102) are the deployable trusses which are sent into orbit in a folded shape and are deployed once in orbit, thus maximizing the number of trusses launched into space per launch. Below there are some deployable truss concepts.

The deployable truss is composed of two main elements: one rigid part (108) at the center, where the space system modules and third-party payloads are docked during the mission lifetime’s; and the deployable part (109), located at both sides of the rigid part (108), which are unfolded during the deployment and can be docked with other auxiliary trusses (102) and with the master truss (101). This configuration allows the infrastructure to be modular and reconfigurable depending on the client’s necessities.

For the deployment mechanism, some of the actuators proposed are electric motors, a Hold Down and Release mechanism and a spring-loaded pin lock mechanism. To track the deployment, laser displacement sensors can be used to verify the correct unfolding. The harness is done on the inner part of the truss’ structure.

Another version of an auxiliary truss (102) is one that is assembled in space with the unassembled components to save space within the launcher’s fairing envelope and thus maximize the number of auxiliary trusses that can be sent up per launch.

These auxiliary truss (102) concepts allow the infrastructure to be modular and reconfigurable depending on the client’s needs for several services in orbit while scaling the infrastructure to increase the number of clients and applications. A space service robotic vehicle (104) responsible for repairing, manipulating, reconfiguring, capturing, transporting, and mating parts (see figure 6), but also for the construction of the space infrastructure as well as the assembly of integration of the large space system and capable of providing services beyond the station such as deorbiting a satellite. The main elements of the space infrastructure are connected through the newly designed standard interface (208) that is a quick disconnect electromechanical interface device that enables several connections, such as mechanical, electrical power, fluid and data. It is intended to support modular in-space assembly, module reconfiguration and disassembly. It is composed of an androgynous design, load effectors and visual, thermal, fluid and positioning sensors to fulfil the connection necessities. The standard interface (208), along with the rest of the building blocks, is one of the possible configurations that provides scalability and reconfigurability to the infrastructure, thus increasing the services to third-party payloads and modules.

Another building block is the space service robotic vehicle (104) is an unmanned and automated spacecraft which is essential for the reconfigurability and scale of the infrastructure, thanks to multiple repositionable robotic arms (202) with interchangeable end-effectors (201) and a docking port, able to provide services to cooperative or non- cooperative bodies.

Its dual robotic arms (202) are interchangeable, thus enabling their replacement and repositioning, and consequently expanding the operations capability. They are connected to the space service robotic vehicle (104) or the space infrastructure via a standard interface.

The dual robotic arms (202) have the standard interface (208) at both ends, making possible different configurations: they can be put together to form a singular longer arm; change the end effectors (201), which are also connected via the standard interface (208); or “walk like a worm” up and down the infrastructure, swinging from one initial position of the infrastructure to another through the standard interface (208).

The space service robotic vehicle (104) that is part of the space infrastructure in space also comprises:

- solar panels (204) for providing the required electric power by the robot vehicle (104);

- propellant tanks (205): responsible for storing the propellant required by the robot or to refuel modules / large space systems; - secondary thrusters (206) responsible for the fine control of the robot (mainly small movements, keeping a specific position, controlling its rolling, approaching to capture the parts, etc.);

- primary thrusters (207) responsible for propelling the robot large distances (mainly to reach the new parts, payloads or modules and bring them back to the space infrastructure).

The robotic vehicle (104) is a modular service platform that can be equipped and configured with different capabilities and software configurations. There are two main modules: a main spacecraft module where all the propulsion, power, data, communications and Guidance Navigation and Control subsystems will be housed along with the thrusters and solar panels (204) on its surface; and a robotic module housing all the equipment required for the robotic arms (202), including the arms themselves and a docking port.

Space modules (107) are configured to house and perform different services depending on the client’s needs (see figure 5).

Several modules (107) can be integrated into the auxiliary trusses (102), such as scientific, robotic, or human modules, but also propellant or supply tanks. Due to the nature of the present invention, integration and docking can be easily achieved using the space service robotic vehicle (104) and the standard interface (208), reducing complexity, execution time, and power and fuel consumption as the master truss provides them with all the supplies. Moreover, because the space service robotic vehicle (104) has two robotic arms (202) and different effectors (201), the infrastructure can host a great variety of space modules. Apart from this, thanks to the auxiliary trusses (102) structure, the reconfiguration of the space modules and scalability can be realized if needed thanks to the standard interface (208).

Some other examples of modules and/or segments that configure the large space system are:

Earth observing equipment (105), a segmented space telescope (106), or habitational module (107). The master truss (101) and the auxiliary truss (102) make up a truss structure that serves as support for other parts that configure a large space system, such as the other parts that are distributed along the length of the truss structure every 10-15 meters. The master truss (101) serves as the central part of the infrastructure, composed of the avionics, guidance navigation and control, telemetry and telecommunication control, propulsion, thermal control and power subsystems. Communication (telecommand and telemetry) with ground is also carried out through it. It also hosts the space service robotic vehicle when no operation is required. The auxiliary truss (102) provides structural frame to the entire infrastructure, while allowing for modularity thanks to its design, scaling by adding more auxiliary trusses, and reconfigurability using the standard interface system and the space service robotic vehicle depending on the necessities. They also offer standard interfaces for other auxiliary trusses, third-party modules and spacecrafts. The solar panels (103) obtain solar power from the sun in order to supply the power requirements for the different modules and spacecrafts integrated into the infrastructure. The space service robotic vehicle (104) is in charge of capturing, transporting, repairing, reconfiguring trusses and external payloads using its two robotic arms and the different end effectors, making the infrastructure modular, reconfigurable and scalable for different purposes and services.

The building blocks and third-party modules are powered thanks to the solar panel (103) integrated into the space infrastructure. They will be attached to the master truss (101) and auxiliary trusses (102) via the standard interface (208). They will be also deployable, so they can be folded in case of necessity. The solar panels (204) initially considered for the infrastructure are retractable and ROSA type.

These preliminary concepts allow for modularity, reconfigurability and scalability for the infrastructure thanks to the trusses and the space service robotic vehicle.

Each truss (101 , 102) of the space infrastructure of the invention is made up of a plurality of segments. These segments provide an advantageous configuration to the space infrastructure due to the modular construction by segments.

With the above cited configuration of the master truss (101) and the auxiliary truss (102) making up a truss structure, depending on the mission needs the space infrastructure of the invention is able to: a. Scale up and enlarge the platform as needed, by connecting new auxiliary trusses (102) (which are sent into orbit in subsequent launches) via standard interface (208) and the space robotic service vehicle (104). b. Reconfigure itself to host different types of parts, payloads, and modules (robotic and human) via the standard interface system (208). The modular approach of the trusses (101 , 102) enables the reconfiguration of the space infrastructure to host the payloads, accommodating their size and requirements. c. Replace/repair specific trusses (101 , 102) damaged, thanks to the modularity of the infrastructure. Trusses lifetime can be also renewed or extended by launching new truss segments and replacing the former trusses (101 , 102).