Multi-Debris Capture by Tethered Space Net Robot via Redeployment and Assembly

Abstract

This paper presents an advanced multiple pieces of debris capture method for the tethered space net robot. A novel capture strategy that integrates redeployment and self-assembly techniques is introduced. With this strategy, the net robot self-assembles to close the net pocket and quickly maneuvers to nearby target debris. Upon reaching its target, the robot redeploys the net for debris capture. Central to this approach is the development of a capturing model that accurately describes the state function of the deployed net and incorporates an effective dragging method to counteract debris bouncing. To enable this multiple pieces of debris capture, an attitude consensus controller and a capture controller are designed using a finite-time scheme and terminal sliding mode, respectively. Numerical simulations reveal limitations in capturing multiple pieces of debris by existing design of tethered space net robots, where debris has the propensity to bounce out of a fully deployed net during multicapture attempts. The proposed strategy effectively mitigates these challenges, minimizing debris bounce and ensuring dependable multiple pieces of debris capture. Overall, the findings offer valuable insights to enhance the efficiency of active space debris removal missions.