Design and Testing of a CubeSat Based Deployable Robotic Arm for Small Satellites Servicing and Debris Removal Applications

This work presents the CubEArm, a novel 3U CubeSat with manipulation capabilities for on orbit servicing and debris removal, developed by Politecnico di Torino, Adaptronics and Axist . While conventional space manipulators traditionally rely on standardized interfaces such as the Launch Adapter Ring (LAR) for effective grasping, the space environment presents a significant challenge when dealing with debris or defunct satellites that may lack these predetermined features. The core innovation of the CubEArm is its novel gripper, designed and manufactured by Adaptronics and based on electro-adhesive principle of operation. This represents a significant advancement over traditional grappling mechanisms by eliminating the need for moving parts while simultaneously expanding the system's operational capabilities to interact with virtually any available surface. This versatility enhances the CubeSat's potential applications in diverse space servicing scenarios. The paper provides the design and the analysis of the robotic arm subsystem, detailing the design constraints. A key driver of the design is the capability of the system to be contained in a 2U volume when stored, and its extension to perform controlled capture of the target. Actuator and link sizing is derived from an assisted design with multibody model, simulating berthing and manipulation manoeuvres, to ensure the capability of the system to achieve the required mission. To validate the design, a high-fidelity experimental model of the complete CubEArm system was constructed. Testing focused on the capture and manipulation of a noncooperative small satellite under relevant conditions, utilizing the microgravity testing facility provided by the Department of Mechanical Engineering (DIMEAS) at Politecnico di Torino. The design and the manufacturing of the test bench model, which involves the management of pneumatic subsystem to obtain the free floating condition, is presented. Preliminary results are discussed.