In-space grasping system and method of operation

A coupling system comprising:

• a passive unit having a first side and an opposing second side, the first side having a recess with a lip;
• and
• an active unit comprising:
• an actuator;
• a cam mechanism operably coupled to the actuator, the cam mechanism being movable from a stowed position to a deployed position, the cam mechanism comprising:
• a gear operably coupled to the actuator,
• at least one first lead-screw operably coupled to the gear,
• an elevator plate operably and movably coupled to the at least one lead-screw, the elevator plate having at least one first cam slot, and
• at least one roller assembly operably and movably coupled to the at least one first cam slot, the at least one roller assembly being movable from an entry position to a docked position in response to activation of the actuator, the plurality of capture rollers being coupled to the at least one roller assembly;
• and
• plurality of capture rollers operably coupled to the cam mechanism to move from a first position to a second position in response to the cam mechanism moving from the stowed position to the deployed position, the plurality of capture rollers engaging the lip in the second position when the passive unit is in contact with the active unit.

A method of coupling a passive unit to an active unit, the method comprising:

• moving the passive unit towards the active unit, the passive unit having a recess on one face and a plurality of lips disposed within the recess;
• positioning at least a portion of the passive unit within a capture envelope adjacent to at least one of a plurality of capture rollers on the active unit;
• activating a cam mechanism in the active unit to move the plurality of capture rollers in a first direction from a first position to a second position;
• engaging the recess with the plurality of capture rollers to align the passive unit as the plurality of capture rollers move from the first position and second position;
• engaging the plurality of lips with the plurality of rollers as the plurality of rollers move from the first position to the second position;
• and
• move the plurality of capture rollers in a second direction to move the passive unit into a docked position, the second direction being perpendicular to the first direction.

A method of coupling a passive unit to an active unit, the method comprising:

• moving the passive unit towards the active unit, the passive unit having a recess on one face and a plurality of lips disposed within the recess;
• positioning at least a portion of the passive unit within a capture envelope adjacent to at least one of a plurality of capture rollers on the active unit;
• activating a cam mechanism in the active unit to move the plurality of capture rollers in a first direction from a first position to a second position;
• engaging the recess to align the passive unit as the plurality of capture rollers move from the first position and second position;
• engaging the plurality of lips with the plurality of rollers as the plurality of rollers move from the first position to the second position;
• move the plurality of capture rollers in a second direction to move the passive unit into a docked position, the second direction being perpendicular to the first direction;
• fixing the cam mechanism in a stowed position with a launch lock device;
• and
• activating the launch lock device prior to moving the cam mechanism from the stowed position to a deployed position, wherein the moving of the cam mechanism from the stowed position to the deployed position further comprises:
• rotating a gear with an actuator,
• rotating at least one first lead-screw with the gear,
• moving an elevator plate along the lead-screw in response to the rotation of the lead-screw, and
• causing the plurality of capture rollers to move in the first direction in response to movement of the elevator plate,
• wherein the causing of the plurality of capture rollers to move in the first direction further includes moving a roller assembly along a first cam slot in the elevator plate, and
• wherein the movement of the plurality of capture rollers in the second direction further includes moving the roller assembly along a second cam slot in a static cam plate.