Two part spacecraft servicing vehicle system with adaptors, tools, and attachment mechanisms

A method of performing multiple client spacecraft servicing missions comprising:

• providing an in-space spacecraft servicing system comprising a servicing spacecraft and a propellant module docked together and movable in tandem together to a client spacecraft location;
• releasing the servicing spacecraft from the propellant module in proximity to the client spacecraft location to perform a client spacecraft servicing mission;
• docking the servicing spacecraft at a client spacecraft,
• operating a robotic arm of the servicing spacecraft having multiple sections that are pivotably coupled to each other in series in a manner that allows a propellant transfer coupling end of a distal one of the multiple sections of the robotic arm to be moved along a nonlinear path into alignment with and fluid communication with a propellant transfer coupling of the client spacecraft, and
• transferring propellant from a propellant tank of the servicing spacecraft to a propellant tank of the client spacecraft via the propellant transfer coupling end of the distal section of the robotic arm,
• wherein said step of operating said robotic arm comprising activating a first motor to cause said distal section to pivot relative to a next section of said multiple sections of said robotic arm, and activating a second motor to cause said next section to pivot relative to another section of said multiple sections of said robotic arm.

A method of resupplying propellant to a client spacecraft in space using a servicing spacecraft, comprising the following steps:

• docking the servicing spacecraft at the client spacecraft;
• operating a robotic arm of the servicing spacecraft having multiple sections that are pivotably coupled to each other in series in a manner that allows a propellant transfer coupling end of a distal one of the multiple sections of the robotic arm to be moved along a nonlinear path into alignment with and fluid communication with a propellant transfer coupling of the client spacecraft, and
• transferring propellant from a propellant tank of the servicing spacecraft to a propellant tank of the client spacecraft via the propellant transfer coupling end of the distal section of the robotic arm,
• wherein said step of operating said robotic arm comprising activating a first motor to cause said distal section to pivot relative to a next section of said multiple sections of said robotic arm, and activating a second motor to cause said next section to pivot relative to another section of said multiple sections of said robotic arm.