| 主权项 |
1. A system mounted on a servicing spacecraft for transferring fluid between one or more selected fluid storage tanks on the servicing spacecraft and a client satellite, the client satellite including one or more fluid storage tanks and a fill/drain valve associated with each of the one or more fluid storage tanks, each fill/drain valve having rotatable features and static features, comprising:
a) a positioning mechanism, an end effector mounted on the positioning mechanism, the end effector being coupled to the one or more selected fluid storage tanks; b) a tool including
a housing,a grapple fixture mounted on said housing configured to be grasped by said end effector,a fluid selection and coupling mechanism mounted in said housing and configured to be coupled to the end effector for coupling the one or more fluid storage tanks on the client satellite to the one or more selected fluid storage tanks mounted on the servicing spacecraft,a wrench located in said housing and configured for opening and closing each fill/drain valve on the one or more tanks and mating the fluid selection and coupling mechanism to the at least one fill/drain valve on the client satellite;an actuator mounted in said housing coupled to the fluid selection and coupling mechanism and the wrench; c) a sensor system for at least determining a relative displacement between said tool and each fill/drain valve on the one or more fluid storage tanks; and d) a control system in communication with said sensor, said positioning mechanism, said end effector and said actuator for controlling operation of said positioning mechanism, said end effector and said tool based on feedback from said sensor. |
