… the design of robotic grappling vehicles intended to approach and grapple free-… grapple a
free-floating spacecraft, as distinct from spacecraft docking and berthing, where two spacecraft …

… and grapple, and allows many more potential grapple locations on a given target. With current
technology, grappling … of the spacecraft as well as a large and complex grappling payload. …

… of the OneWeb satellites as a baseline for the target spacecraft but will also show how the
servicing spacecraft’s services could be applied to a range of orbits and target spacecraft …

… and grapple interfaces of potential customer spacecraft makes the use of preplanned, canned
script type commanding impractical. We decided that the rendezvous and docking process …

… of arcing during grappling might be to equip spacecraft with a device that indicates when
it is safe to grapple. In this paper, we discuss the danger of arcing during grappling, examine …

… the deployment of multiple grappling arms, each … grappling system. Upon establishing
position and rate matching along center of rotation of the object to be grappled, the spacecraft …

… demonstrated autonomous grappling of an … grapple maneuvers and of subsequent servicing
applications. The contact dynamics of grappling large RSOs and smaller PODs spacecraft …

… with flight duration , the servicing of spacecraft in long duration space flights becomes a critical
… The servicing of the SSF and other spacecraft requires a grappling device for the retrieval …

… spacecraft without requiring servicing aids such as grapple fixtures and retroreflectors to be
installed on the customer spacecraft… For customer spacecraft that are designed to be serviced…

… A spacecraft capture task using space robotic manipulator in … Fig.1 is used, which can
grapple a specific interface, that is, … the GF pin on the target spacecraft. Relative motion of these …