Adam Paul, None
Adam Paul, Miniature Gecko-Adhesive Robots for Versatile On-Orbit Servicing, None
The current methodologies for conducting external servicing tasks in human spaceflight—most notably through astronaut Extra-Vehicular Activities (EVAs)—are costly, logistically complex, and inherently hazardous (Clark et al, 2021). Bulky space suits and limited mobility make it difficult for astronauts to accomplish dexterous operations, while exposing them to space radiation, vacuum, and micrometeoroid hazards. As the industry moves toward new commercial space stations, many of these platforms may not be equipped with large, traditional robotic arms (such as the Canadarm on the International Space Station), reducing opportunities for automated external maintenance and repair. To address these challenges, this paper proposes a novel miniature robotics platform designed to supplement or partially replace human EVAs for on-orbit servicing, inspection, and assembly tasks.
Central to this concept is the realization of a small, low-cost spacecraft capable of fitting within a compact 3–6U CubeSat form factor. By leveraging established small satellite manufacturing techniques, these platforms can be mass-produced and rapidly deployed in support of various missions (Lal et al., 2017). Unlike conventional large robotic manipulators, this platform is agile, easily reconfigurable, and can be stationed onboard future commercial space stations or deployed from free-flying motherships in Low Earth Orbit (LEO), Geostationary Earth Orbit (GEO), or cislunar space.
At the heart of this robotic platform is a unique mobility and adhesion system. It employs three articulated legs, each equipped with gecko-inspired dry adhesive footpads. These adhesives, developed from biomimetic principles, rely on van der Waals forces at the microscopic level, allowing the robot’s feet to grip a wide range of surface materials—from solar panels and antenna booms to composite station hulls—without leaving residue or requiring complex mechanical fasteners (Glick et al, 2018). The dry adhesive has been refined to enable multiple attachment and detachment cycles, ensuring that the robot remains highly maneuverable even after repeated use. This capability allows the robot to traverse external surfaces of spacecraft and space stations, orient itself optimally for task execution, and maintain a stable grip in microgravity.
The platform additionally incorporates a robust vision suite with cameras and onboard processing to achieve autonomous navigation, obstacle avoidance, and pathfinding around station architectures. By selecting from a portfolio of interchangeable payloads, the same base platform can perform a multitude of tasks, including high-fidelity inspection, non-destructive evaluation, debris removal, sample collection, component grappling, and rudimentary assembly operations such as installing small structural elements. The payload modules can be tailored for mission-specific purposes, ensuring that the platform remains versatile across multiple flight campaigns.
Moreover, the small form factor and standardized interfaces enable coordinated drone-like operations of multiple units working in tandem. A group of these robotic “drones” could be orchestrated to perform tasks more efficiently than a single platform, sharing data and working cooperatively to accomplish larger-scale assemblies or conduct simultaneous inspections of multiple structural elements. Such coordinated swarms of small robotic assistants could reduce turnaround times, increase robustness against single-point failures, and facilitate more ambitious space construction and maintenance endeavors.
Overall, this cost-effective, dexterous, and rapidly deployable miniature robotic platform promises to significantly enhance operational capabilities and reduce reliance on hazardous and expensive human EVAs for servicing next-generation space infrastructure.
References:
Lal, B., de la Rosa Blanco, E., Behrens, J. R., Corbin, B. A., Green, E. K., Picard, A. J., & Balakrishnan, A. (2017). Global trends in small satellites (p. 400). Alexandria: IDA Science and Technology Policy Institute.
Clark, J. B., & Chullen, C. (2021, September). Significant Incidents in Extravehicular Activity. In US Spacesuit Knowledge Capture Program.
Glick, P., Suresh, S. A., Ruffatto, D., Cutkosky, M., Tolley, M. T., & Parness, A. (2018). A soft robotic gripper with gecko-inspired adhesive. IEEE Robotics and Automation Letters, 3(2), 903-910.