Mixed Kane-Newton Multi-Body Analysis of a Dual-Arm Robotic System for On-Orbit Servicing Missions

A currently relevant topic is the development of on-orbit servicing missions designed to repair, refuel or deorbit non-co-operative spacecraft. For this purpose, it is possible to use space robotic systems composed of a main platform and one or more robotic arms. In this paper, the capacity of a dual-arm robotic system to manipulate and to deorbit a generic target will be analyzed. For this purpose, a mixed Kane–Newton multi-body model will be implemented; this model will allow to switch automatically from an open-chain configuration (target captured via a single robotic arm) to a closed-chain configuration (target captured via both robotic arms) and vice versa. The flexibility of the joints of the system and the flexibility of the components of the robotic arms will be considered in the model. The system will be properly sized to operate the deorbiting of the target. Under the hypothesis of planar motion, numerical results will be presented to validate the model and to demonstrate the correct sizing of the system.