On the Possible Utilization of an End-Effector Mechanism for Space Debris Remediation in Low Earth Orbit

Research and development in the field of Space Debris Remediation (SDR) technologies, has gathered rapid momentum in the last two decades. Amongst various technologies being investigated, the robotic manipulator coupled with an end-effector system offers a feasible option for active SDR missions. In the current work, the utilization aspect of a robotic system is addressed by conducting a focused survey of pertinent utility characteristics associated with the practical employment of the system. One such configuration that merits special attention is the possible employment of a 4-degree-of-freedom robotic system integrated with an end-effector mechanism that uses a Light Detection and Ranging (LIDAR) system for the identification of debris. Additional investigation into universal mathematical models related to key utilization aspects can also be conducted for use in the future phases of this continual project. This paper is formulated to act as a bridge between space robot design and its application domains.