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 the Polytechnic University of Turin, companies Adaptronics and Axist, and co-funded by the Italian Ministry of University and Research (MUR) through the NODES innovation ecosystem. While conventional space manipulators traditionally rely on standardized interfaces such as the Launch Adapter Ring (LAR) for eective grasping, the space environment presents a signicant 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 its electro-adhesive technology. This represents a signicant 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 maneuvers, to ensure the capability of the system to achieve the required mission. To validate the design, a high-delity experimental model of the 1 Paper ID: 100293 student complete CubEArm system was constructed. Testing focused on the capture and manipulation of a non- cooperative small satellite under relevant conditions, utilizing the microgravity testing facility provided by the Department of Mechanical Engineering (DIMEAS) at Polytechnic University of Turin. The design and the manufacturing of the test bench model, which involves the management of pneumatic subsystem to obtain the free oating condition, is presented. Preliminary results are discussed.