# US 11,999,513 B2 · Unmanned spacecraft and method for assembling satellites

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- Number: US 11,999,513 B2
- Document ID: US11999513B2
- Status: Granted
- Kind: B2
- Application number: 17/523,656
- Filed: 2021-11-10
- Published: 2022-05-12
- Granted: 2024-06-04
- Earliest claimed: 2020-11-10
- Assignees: Massachusetts Institute of Technology
- Applicants: Massachusetts Institute of Technology
- Inventors: Ezinne Uzo-Okoro; Kerri L. Cahoy
- Web page: https://patentgrep.com/patent/US11999513B2

## CPC

- B64G 4/00: Tools specially adapted for use in space
- B64G 1/10: Artificial satellites; Systems of such satellites; Interplanetary vehicles (space shuttles B64G1/14)
- B64G 1/24: Guiding or controlling apparatus, e.g. for attitude control
- B64G 1/66: Arrangements or adaptations of apparatus or instruments, not otherwise provided for
- B25J 9/1682: {Dual arm manipulator; Coordination of several manipulators}
- B25J 9/1687: {Assembly, peg and hole, palletising, straight line, weaving pattern movement}
- B64G 1/223: {Modular spacecraft systems}
- B64G 2004/005: {Robotic manipulator systems for use in space}
- B64G: COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

Described is a spacecraft locker configured be deployed in outer space and configured to assemble satellites (e.g., CubeSats) within it and deploy them in outer space. In an embodiment, an unmanned spacecraft includes a housing configured to be deployed in a microgravity environment, the housing having an access point (e.g. a door), a storage area configured to store parts of a satellite, one or more robots movably positioned in the housing, and a controller configured to control at least one of the one or more robots to access parts from the storage area and to assemble the parts on an assembly platform of the housing. The controller may also control deployment of the assembled satellite through the door of the housing to a position in the microgravity environment.

## Claims

### Claim 1

An unmanned spacecraft, comprising:
a housing configured to be deployed in a microgravity environment, the housing having an access point configured to allow access to the microgravity environment, a parts storage area configured to store parts of a satellite, and an assembly platform;
a first robot movably positioned in the housing, the first robot disposed in the housing so as to be able to reach at least some parts of a satellite stored in the parts storage area; and
a controller configured to control the first robot to move to access parts of a satellite from the parts storage area and to assemble parts of a satellite on the assembly platform and to control deployment of an assembled satellite through the access point of the housing to a position in the microgravity environment.

### Claim 2 (depends on 1)

The unmanned spacecraft of claim 1, further comprising one or more parts of a satellite disposed in the parts storage area, wherein one or more of the one or more parts of a satellite are in modular form.

### Claim 3 (depends on 1)

The unmanned spacecraft of claim 1, further comprising:
a communication system in the housing,
wherein the controller is further configured to control the first robot to assemble parts of a satellite and deploy an assembled satellite to a position in the microgravity environment based on information received from the communication system.

### Claim 4 (depends on 1)

The unmanned spacecraft of claim 1, further comprising:
a second robot adjacent to the first robot,
wherein the controller is further configured to control the second robot to access parts of a satellite from the parts storage area and to operate in synchronization with the first robot to assemble parts of a satellite to form a satellite on the assembly platform.

### Claim 5 (depends on 1)

The unmanned spacecraft of claim 1, further comprising:
a thrust controller configured to control movement of the housing within the microgravity environment.

### Claim 6 (depends on 1)

The unmanned spacecraft of claim 1, wherein the controller is further configured to control opening of the access point of the housing to deploy an assembled satellite at the position in the microgravity environment.

### Claim 7 (depends on 3)

The unmanned spacecraft of claim 3, wherein:
information received from the communication system designates an assembled satellite as a replacement satellite, and
the replacement satellite is configured by the first robot to replace a satellite in the microgravity environment.

### Claim 8 (depends on 1)

The unmanned spacecraft of claim 1, wherein the controller includes:
a first controller configured to control the first robot;
a second controller configured to control deployment of an assembled satellite; and
a third controller configured to control thrust to move the housing within the microgravity environment, wherein at least two of the first controller, the second controller, or the third controller are configured to operate in synchronization.

### Claim 9 (depends on 1)

The unmanned spacecraft of claim 1, wherein the parts storage area is configured to store:
a satellite controller,
a satellite communication system;
a plurality of frame parts; and
one or more sensors.

### Claim 10 (depends on 7)

The unmanned spacecraft of claim 7, wherein the assembled satellite is a CubeSat.

### Claim 11

A method of assembling a satellite, comprising:
(a) receiving information to assemble a satellite from a host system;
(b) controlling a first robot to move to access parts from a storage area, wherein at least some of the parts are satellite parts;
(c) controlling the first robot to assemble satellite parts to form the satellite as an assembled satellite; and
(d) controlling deployment of the assembled satellite to a position in a microgravity environment, wherein the storage area, the first robot, a communication system for performing (a), and a controller for performing (b) to (d) are located in a housing of an unmanned spacecraft deployed in the microgravity environment and wherein (d) includes deploying the assembled satellite through an access point of the housing.

### Claim 12 (depends on 11)

The method of claim 11, wherein one or more of the satellite parts are in modular form.

### Claim 13 (depends on 11)

The method of claim 11, wherein:
the satellite parts are assembled in (c) on an assembly platform; and
controlling deployment of the assembled satellite in (d) further includes controlling movement of the assembly platform to deploy the assembled satellite through the access point of the housing.

### Claim 14 (depends on 11)

The method of claim 11, further comprising:
controlling a second robot located in the housing to access parts from the storage area, wherein the first robot and the second robot are controlled in synchronization by the controller.

### Claim 15 (depends on 11)

The method of claim 11, further comprising:
controlling a thruster to move the unmanned spacecraft within the microgravity environment to deploy the assembled satellite.

### Claim 16 (depends on 11)

The method of claim 11, further comprising:
controlling opening of the access point of the housing to deploy the assembled satellite at the position in the microgravity environment.

### Claim 17 (depends on 11)

The method of claim 11, wherein:
the information received at the communication system designates the assembled satellite as a replacement satellite, and
the replacement satellite is configured by the first robot to replace a satellite in the microgravity environment.

### Claim 18 (depends on 11)

The method of claim 11, wherein:
(b) and (c) are performed by a first controller;
(d) is performed by a second controller; and
controlling a thruster by a third controller to move the unmanned spacecraft within the microgravity environment, at least two of the first controller, the second controller, or the third controller are configured to operate in synchronization.

### Claim 19 (depends on 11)

The method of claim 11, wherein controlling the first robot to assemble the satellite parts comprises, controlling the first robot to assemble at least a satellite controller, a satellite communication system, a plurality of frame parts, and one or more sensors, to form at least a portion of the assembled satellite.

### Claim 20 (depends on 11)

The method of claim 11, wherein the assembled satellite is a CubeSat.