xLink Debris Removal System (xDRS)

In response to the SpaceWERX Orbital Prime STTR call, Motiv Space Systems (Motiv) and its research partner, the US Naval Research Laboratory (NRL) present the xLink Debris Removal System (xDRS).  xDRS is based on several proven technologies and methodologies, including the space robotic manipulator, xLink, developed by Motiv as a low-cost, modular robotic arm.  Additionally, NRL brings a wealth of R&D it has performed for the past few decades in the area of robotic spacecraft and rendezvous of both cooperative and noncooperative clients.  The proposed xDRS demonstration mission will rendezvous, capture, and remediate the derelict Vaguard-1 spacecraft which has been inoperable since 1964.  The aspirational stretch goal is to return Vanguard-1 to Earth for display in the Smithsonian (in conjunction with another return vehicle such as the X37).  The size and shape of the object are of particular interest as it has a relatively low mass of 3.2kgs and is irregularly shaped both of which make grapple and capture challenging and will make xDRS broadly applicable to a wide range of space debris mitigation. Having been originally developed by NRL in 1958, engineering models of the satellite still exist today for verification and validation work. This enables thorough testing in a laboratory environment can be accomplished to reduce mission risk.  Motiv plans to deploy the Robot Operating System as the control software for the manipulation system.  Situational awareness and machine vision is achieved through the use of visible spectrum cameras and a LIDAR sensor.  xDRS will autonomous algorithms to track and capture the satellite though the use of it’s 7-DOF robotic arm.  The debris will then be stowed on the spacecraft for transfer or disposal.