1. NASA – Internship Final Report
Summer 2015 Session1
Universal Satellite Capture Arm and Reactive Satellite
Simulator
Jared M. Kepron1
, Colin M. Stelly2
, and Lindsey A. Marinello3
NASA Marshall Space Flight Center, Huntsville, AL, 35812
Capture mechanisms grant the ability to redirect or service satellites in microgravity. This
research explores an alternative method using electrostatic adhesion for target capture and
manipulation. The key advantage of electroadhesion for satellite capture lies in its
mechanical simplicity and adhesive versatility. Whereas traditional methods require the
interaction of multiple interlocking parts for successful capture, electroadhesion requires
only a contact surface. This property minimizes the possibility of inflicting undesired
perturbations on the target. Electroadhesion also enables new capabilities in handling and
redirecting satellites not previously designed for capture or docking, including space debris
and meteoroids. An extendable electrostatic gripper and target mock-up were designed and
built for testing in simulated microgravity conditions to determine the feasibility of this
system for spaceflight applications.
Nomenclature
DOF = Degree(s) of Freedom
FRL = Flight Robotics Laboratory
LEDDAR = Light-emitting Diode Detection and Ranging
MLI = Multilayer Insulation
MSFC = Marshall Space Flight Center
GSFC = Goddard Space Flight Center
NASA = National Aeronautics and Space Administration
PLC = Programmable Logic Controller
RSS = Reactive Satellite Simulator
SOFI = Spray On Foam Insulation
AR&C = Automated Rendezvous and Capture
PWM = Pulse Width Modulation
I. Introduction
ECENT studies have estimated that there are approximately 2,600 inoperable satellites presently orbiting
Earth1
. A significant number of these satellites are rendered to such a state due to their inability to
accommodate the traditional capture structures of service and refueling vehicles. This complication arises as a result
of the prevalent obstacle of docking structure non-uniformity. Electrostatic adhesion technologies pose a promising
solution to this fundamental problem by providing near limitless adaptability in satellite capture and docking
capabilities. In addition to widely expanding satellite servicing capabilities and, ergo, mission duration, electrostatic
adhesion exhibits potential for space debris capture and redirection applications as well. This is a much sought after
ability considering that orbital debris, the population of which now exceeds 500,000 pieces, presents a continual
concern for all space flight agencies and enterprises2
. Design and testing of a Universal Satellite Capture Arm at
NASA’s Marshall Space Flight Center provides validation of electrostatic gripping mechanisms, indicating potential
for in-space application of this technology.
1
NASA Robotics Academy Research Associate, ES35, FRL, MSFC, Worcester Polytechnic Institute.
2
NASA Robotics Academy Research Associate, ES35, FRL, MSFC, Auburn University.
3
NASA Robotics Academy Research Associate, ES35, FRL, MSFC, Bryn Mawr College.
R

2. NASA – Internship Final Report
Summer 2015 Session2
II. Background
The NASA On-Orbit Satellite Servicing Study, mandated by Congress in 2009 and completed by GSFC in 2010,
found “unequivocally” that improved satellite servicing capabilities would save resources and mitigate the risk of
space debris impacts by extending or repurposing the capabilities of satellites already in space3
. Therefore, satellite
servicing is critical to national interests and enhanced human space capabilities. Despite these findings, the study
outlines that space hardware designers have historically been reluctant to adopt common standards that would enable
servicing. Additionally, as noted in the study, although cost-benefit analyses occasionally support satellite servicing
as a cost-effective activity, it can be difficult for commercial companies to make these assessments due to the
presence of a great many variables.
The study focuses on the legacy of mechanical grappling mechanisms for AR&C of satellites and argues that,
while these operations require high complexity and customized operations for each satellite, there is not a technical
barrier. This argument is supported by the fact that highly complex, ingenious servicing tasks have been completed
for such notable projects as the Hubble Space Telescope. Thus, it is concluded that an innovative solution can be
found. Given the relatively small number of satellites that could benefit from servicing, this is not a strong business
case, as the mechanical complexity proposed adds even greater uncertainty and unreliability to the operation.
Electrostatic adhesion offers an elegantly simple solution which could readily enable a universal satellite capture
mechanism. Unlike traditional capture methods, electrostatic adhesion is well-suited to applications involving a
diverse range of materials and structures, and demands few tools or moving parts. Rather than require an intricate,
interlocking system custom-built for each satellite, an electroadhesive capture mechanism would require only a
single electrostatic gripper film. Further benefits may result, such as an overall reduction in weight and size, as well
mechanical and algorithmic complexity, all therefore yielding lower risk and diminished cost. Additionally, the
physical interaction would be quickly and easily reversible, and repeatable at low energy cost, allowing for faster,
safer, lower impact connection to and disconnection from the target surface.
Electrostatic force is an attractive force between two oppositely charged subatomic particles and is defined by
Coulomb’s Law. Electrostatic grippers can take advantage of this physical property to create strong adhesive bonds
for grasping and manipulation of objects.
Figure 1. Electrostatic gripper pad conceptual diagram.
The surface of an electrostatic gripper is typically a polymer material lined with adjacent conductive electrodes,
as is illustrated in Fig. 1, above. Positive and negative charges are uniformly induced over these electrodes in an
alternating sequence, which results in polarization of the target contact surface. The final result is an attractive force
as described by Coulomb’s Law; the electrostatic adhesive force is proportional to the area over which it is applied4
.
Nearly any surface can be polarized, even one which exhibits insulative properties. Thus, this attractive force can be
applied to a variety of surfaces, as displayed in Table 1, below.

3. NASA – Internship Final Report
Summer 2015 Session3
Mode of Manipulation
Material Pull Shear Twist
Sheet Metal Poor Exceptional Exceptional
Painted Metals Poor Inconclusive Inconclusive
Photovoltaics Poor Inconclusive Inconclusive
MLI Poor Exceptional Exceptional
Kapton/Mylar Poor Effective Effective
Wood Poor Poor Poor
Paper Effective Effective Effective
Table 1. Effectiveness of electrostatic adhesion on various materials5
.
When applying electrostatic adhesion for the purpose of load manipulation, it is useful to speak in terms of grip
pressure. Grip pressure of a simple bipolar electrostatic gripper is expressed by Eq. (1), where PG is grip pressure, g
is gap size, d is dielectric thickness, κr is dielectric constant, ε0 is vacuum permittivity (8.85*10-12
F/m), and V is
electrode-substrate voltage.
𝑃𝐺 = 𝜀0 [
𝑉𝜅 𝑟
𝑑+𝜅 𝑟 𝑔
]
2
(1)
III. Design
The scope of this project was to build and demonstrate an extendable arm featuring 4 DOF and an electrostatic
gripper end effector for application as a Universal Satellite Capture Arm, the block diagram of which can be seen in
Fig. 2. Additionally, the project scope included the design and fabrication of a Reactive Satellite Simulator test
model in order to simulate a tumbling satellite in 5 DOF.
Figure 2. Universal Satellite Capture Arm mechanical block diagram.

4. NASA – Internship Final Report
Summer 2015 Session4
A. Universal Satellite Capture Arm
Linear actuation as a means of robotic arm extension has been relatively phased out of NASA space hardware as
well as the greater robotics industry over the last few decades. In its place, folding joints are often used due to their
considerably increased reliability and decreased mechanical complexity. However, new technology such as the Paco
Spiralift may disrupt this design standard. The Spiralift was chosen as a means of extension for the Universal
Satellite Capture Arm following some research into linear actuation mechanisms. The actuator is mechanically
simple, relatively lightweight, and rated for high impacts and industrial loads. It operates by means of a thin metal
preformed strip uncoiling under applied torque and joining with itself, top to bottom, while a toothed coil snaps
through holes in the aligned strip layers to secure the system.
One disadvantage of this lift, as a result of the coiled structure, is that it cannot withstand great amounts of lateral
force. In order to compensate for this weakness, scissor lift support arms, displayed in Fig. 3, were incorporated into
the design to provide structural rigidity. The two arms, made of lightweight aluminum channel, sit on either side of
the Spiralift and are joined at the hinges on one end to provide further support. To protect the Spiralift from
overextension, the scissor lifts were designed with a maximum extension of 5.5 feet, less than that of the actuator,
which extends to a maximum height of 6 feet.
Figure 3. Semi-constructed Universal Satellite Capture Arm, displaying scissor lift supports
Although this combination was found to be structurally sound, it was also found that the addition of the two
scissor arms added undesired weight and mechanical complexity. To solve this problem, second iteration design
concepts utilizing two Spiralift actuators lifting in conjunction have been proposed. Moved synchronously, the
actuators would lend each other lateral rigidity, therefore eliminating the necessity of the scissor arms.
Consequently, such a design would entail overall weight and size reductions of the arm.

5. NASA – Internship Final Report
Summer 2015 Session5
The Spiralift linear actuator is a key component of the Universal Satellite Capture Arm in that it provides
extension of the system. However, the electrostatic end effector is the essential mechanism that allows for satellite
capture. Initial arm designs were drafted under the assumption that a custom electrostatic gripper pad procured from
Electrogrip Incorporated would be utilized. This pad, as seen in Fig. 4, came with the advantage of having been
previously tested under a variety of conditions and validated as promising for spacecraft capture and docking, from a
qualitative standpoint5
. The variations of conditions were in both the test environment and the target material. Tests
in high purity air, frictionless Flat Floor, and vacuum environments all proved successful, and it was found that the
gripper was able to manipulate all typical aerospace materials that were tested in shear and twist modes, although
pull forces could not be acceptably sustained. Since the capture arm concept in question would be primarily used for
initial satellite capture and despin, then allowing for a secondary fixture to secure itself more easily for further
operations, the weak pull force performance is of negligible concern.
Figure 4. Electrogrip Incorporated electrostatic gripper.
The Electrogrip pad film was unalterable due to the instrument sensitivity, though it could be manipulated
slightly to offer flexibility of the gripping surface. Such flexibility could increase the acceptable margin of incoming
pad orientation in a capture operation yet, conversely, allowing for too much flexibility could result in complete loss
of pad rigidity and a less stable target-gripper mating. Therefore, optimization of the mounting interface between the
Electrogrip pad and the extendable arm, and maximization of gripper-target surface contact were clearly crucial
aspects of the design. This realization led to the inception of what was referred to as the “Y-arm” assembly. The
concept design started as three spring-loaded struts positioned radially from the gripper center to permit a particular
degree of flex in the film while under load and auto-return to the relaxed state on load release. The design
progressed to four struts in order to solve rigidity concerns, and prototype parts were produced using a Rostock
MAX v2 3D printer, constructed by the intern team, for preliminary testing.
Soon after analysis of the first prototype parts, it was decided that a new electrostatic gripper would be utilized
for the build since the Electrogrip pad had sustained damage in the past and was scheduled to be returned to the
manufacturer for repair. The replacement gripper mechanism, manufactured by Grabit Incorporated, featured a far
more rigid structure, as can be seen in Fig. 5, with a solid pad where there had been a flexible film before.

6. NASA – Internship Final Report
Summer 2015 Session6
Figure 5. Grabit Incorporated electrostatic gripper.
While significantly more robust than the Electrogrip, this new solid gripper configuration rendered previous Y-
arm designs impractical. To combat this problem, an entirely new end effector mount, shown in Fig. 6, was designed
and built using one inch black iron pipe, quarter inch aluminum plate, a T-coupling, and two sections of PVC pipe.
Although this interface, commonly referred to as the “trapeze”, did not provide the same degrees of freedom as the
original Y-arm concepts, it did allow for an additional axis of rotation and, therefore, a slightly increased acceptable
margin for incoming pad orientation.
Figure 6. Y-arm replacement trapeze structure mounted to Grabit Inc. gripper.
As for electromechanical components, three motors were used on the universal satellite capture mechanism. Two
12 volt DC motors run through a gearbox to control the Spiralift actuator with a chain drive system, while a 3.2 volt
high torque stepper motor drives the end effector rotation through a belt and pulley system. The decision to use a
stepper motor for rotation came about with the requirement that the end effector had to match the rotation rate of the
target surface. The concern of having to perfectly sync the end effector rotation rate with that of the RSS was

7. NASA – Internship Final Report
Summer 2015 Session7
eliminated by utilizing a stepper motor, since a stepper motor can be overdriven as well as back driven without
sustaining damage. Therefore, if the end effector were to attach to an object while rotating too slowly, the stepper
motor would rotate freely instead of suffering a catastrophic mechanical failure, and likewise for if capture were to
occur with too fast an end effector rotation rate. In order to accommodate the rotational motion of the high voltage
electrostatic end effector, the bearing assembly of the arm was outfitted with a 12 conductor, 2 amp slipring. This
allowed for data and power to be sent to the electrostatic gripper while ensuring the protection of all electrical
connections.
The electronic configuration of the Universal Satellite Capture Arm, as displayed in Fig. 7, enables control of its
four motors – pan, tilt, extension, and spin – using a simple mechanical interface which incorporates a joystick,
knobs and push-button switches. An Arduino One microcontroller was programmed to mediate these signals,
matching the inputs to outputs suitable for the servo controllers that drive the motors. The microcontroller is
programmed to coordinate the simultaneous motion of two oppositely configured DC motors responsible for
extension and retraction.
Figure 7. Universal Satellite Capture Arm electronics block diagram.
The main positioning of the arm, defined by azimuth angle, elevation angle, and extension distance of the arm
are actuated by a 3-axis analog joystick, shown in Fig. 8. Upward-downward joystick motions raise and lower the
elevation angle, left-right motions activate changes to the azimuth angle, and clockwise-counterclockwise motions
trigger extension and retraction of the Spiralift actuator, respectively.

8. NASA – Internship Final Report
Summer 2015 Session8
Figure 8. Joystick controller and microcontroller for positioning of Universal Satellite Capture Arm.
The spin direction for each motor is appropriately controlled through simple logic in the Arduino program,
which is illustrated by the circuit diagram in Fig. 9. When the joystick is triggered in one of the two available
azimuth, elevation, or extension directions, a 5 volt and zero volt PWM signal are sent to the positive and negative
reference signals of each servo driver. Using ‘if’ statements, the direction of the DC motors can be easily switched
by inverting the values of the positive and negative reference and, thus, reversing the polarity of the motor. Since the
PWM signal is not genuinely continuous like an analog signal, a low pass filter is needed for optimally smooth
operation of the servo amplifier.
Retraction and extension speed can also be controlled using a knob potentiometer and Arduino program. Within
the Arduino program, a maximum reference signal under 5V can be preset. Analog readings from the knob are then
scaled to provide reference signals that lie within the voltage range.
The spin motor is controlled via an Intelli-inch stepper controller for a stepper motor. A three-position switch is
used to control the direction of the stepper motor, and a built-in potentiometer controls the maximum speed. Future
work remains in order to use the microcontroller or PLC to control the potentiometer.
To aid in human operation and provide safety measures against movements that may lead to mechanical stress
and failure, a string potentiometer mounted on the base plate measures the length of Spiralift extension via an output
voltage. For an added measure of safety, limit switches placed on the scissor lifts prevent over extension and over
retraction by inhibiting the servo drivers when closed. Additionally, pan and tilt potentiometers built into the
respective mechanisms measure the orientation of the azimuth and elevation angles of the extendable boom.
Schematic analysis and testing of components confirmed this as feasible. Due to time constraints, future work must
be completed to convert these readings to useful numerical output for human operators. Nonetheless, this was
beyond the scope of the immediate project and testing goals, which do not require pan and tilt motion.

9. NASA – Internship Final Report
Summer 2015 Session9
Figure 9. Circuit diagram for joystick, Arduino, potentiometer, and motor configuration.
Sensor data is needed to detect and analyze the movements of a target satellite. Such data also allows for the
appropriate positioning and spin-up for successful electrostatic coupling with, and subsequent detumbling of, a
target satellite. Two forms of sensing working in tandem were identified as necessary for this goal. The first is an
LED-based sensor for detection of faraway object distance and geometry, and the second is a close-ranged VeriSens
camera that can be programmed to recognize a particular shape and calculate its rotation speed and axis. Both
sensors can be controlled using a laptop and feature real-time sensing capabilities.
The LEDDAR sensor uses an LED and 16 photodetectors spanning a 45 degree detection angle to measure
accurate distances and rough object geometries in a single axial plane. Two LEDDAR sensors at 90 degrees relative
to one another, as shown in Fig. 10, provide greater detail of an object’s three dimensional characteristics. Using the
included software development kit, a MATLAB program was created to start and stop data acquisition
simultaneously between both sensors. Future work remains to be completed in geometric analysis of these signals
and development of a GUI.

10. NASA – Internship Final Report
Summer 2015 Session10
Figure 10. LEDDAR sensor configuration.
The VeriSens camera, seen in Fig. 11, is typically used in industrial settings to identify objects on conveyor
belts. To begin, a predefined object geometry is specified by the human operator using the VeriSens software suite.
Upon camera detection of an object matching the specified geometry, a program can perform useful calculations to
characterize that shape and, furthermore, command robotic interactions with the object. Based on company
recommendations, it was determined that a 9 mm or 12.5 mm lens may best suit the needs of future sensor
applications, as they provide a wider angle of view and moderate clarity. However, high clarity and detail are not
necessities for outline and shape analysis so long as a teleoperation can comprehend enough geometric detail on the
monitor screen.
Figure 11. VeriSens camera unit, with lens.

11. NASA – Internship Final Report
Summer 2015 Session11
B. Reactive Satellite Simulator
When approaching the topic of universal satellite capture, several problems arise. However, one prevailing
problem with regard to this project is that, since most satellites were built independently, each satellite is different
and features its own unique characteristics. In order to test a universal satellite capturing mechanism, one must have
a universal satellite testing mechanism as well. This is precisely the function served by the Reactive Satellite
Simulator, also known as the Turtle. The RSS utilizes both linear and spherical air bearings to achieve 5 DOF
frictionless motion, made possible by the Flat Floor facility – a special epoxy floor designed to be a flat planar
surface within seven thousandths of an inch – at MSFC. It is the first satellite simulator of its class in that it can fully
simulate a satellite tumbling in 5 DOF. In addition to air bearing technology, the RSS repurposes flight prototype
hardware from the NASA/Dynetics FASTSAT program, providing the ability to test the motion and physical
characteristics of a genuine satellite in microgravity.
The RSS also features interchangeable skin surfaces, allowing for it to be covered with a range of materials. Skin
materials could include paper and plastic, or more appropriately, SOFI, MLI, aluminum, and other common
spacecraft materials. Regolith simulate skin plates could even be utilized for asteroid capture simulations. This
quality allows for testing of the electrostatic end effector on a variety of surfaces that the Universal Satellite Capture
Arm might encounter in a space environment. One final feature the RSS boasts is the ability to orient the frame, and
therefore the skin surface, at any angle between zero and 45 degrees. A detailed diagram of the RSS, with skin plates
removed, can be seen in Fig. 12, below.
Figure 12. Reactive Satellite Simulator with skin plates removed for better viewing.
IV. Testing
A. Flat Floor Testing of the RSS
In order to ensure the safety of the Flat Floor, the RSS had to be disassembled, moved to the Flat Floor facility,
and then reassembled while on the Flat Floor. Upon reassembly of the RSS, testing was conducted to examine
whether or not it matched the predicted motion. The RSS functioned flawlessly, and will therefore be integrated into
testing with the Universal Satellite Capture Arm prior to the end of the internship period.
B. Flat Floor Testing of the Universal Satellite Capture Arm
With both Universal Satellite Capture Arm and RSS construction complete, and the RSS having successfully
tested on the Flat Floor already, the next logical step was to attempt capturing the RSS using the arm while on the
Flat Floor. While this test was initially expected to use the pan and tilt mechanism on the FRL large mobility base,
shown in Fig. 13, as a platform for the arm, the time constraints of the research associates’ summer internship
period, in addition to the unanticipated deficiency of mounting hardware, prevented proper interfacing in time for

12. NASA – Internship Final Report
Summer 2015 Session12
testing the apparatus. Alternatively, the Universal Satellite Capture Arm was affixed to a lift and positioned overtop
the RSS, as shown in Fig. 14. As can be seen in the aforementioned figure, the test was not conducted on the Flat
Floor as initially anticipated, again due to time constraints of the internship period. With the time allotted, the team
was unable to guarantee lift rig compatibility with the Flat Floor. For that reason, final testing was not conducted on
the Flat Floor, so as to avoid the risk of damaging it with an unverified rig. Instead, each aspect of the system was
verified through individual testing in the configuration shown. All motion controls functioned nominally, and the
RSS rotation rate was successfully matched by the end effector using the stepper motor belt and pulley drive system.
The extension and retraction capabilities performed flawlessly under the standard loading, and the electrostatic
gripper pad was satisfactorily adhered to the blank aluminum RSS test surface.
V. Future Work
Having to complete both the RSS and Universal Satellite Capture Arm with the same budget and in the amount of
time normally allotted for a single project meant that many of design considerations were based on which options
were most cost effective in terms of both money and time. That said, there are several opportunities for future
research on the Universal Satellite Capture Arm.
One aspect which demands further work is the aforementioned “Y-arm” structure. The current “trapeze”
configuration allows the end effector one additional degree of freedom, whereas the initial concept of the Y-arm was
to allow near complete flexibility of the pad, such that any small non-uniformities in the target surface would
Figure 13. Large mobility base, originally
intended to be platform for Universal
Satellite Capture Arm, positioned on the
FRL Flat Floor.
Figure 14. Universal Satellite Capture
Arm mounted to lift system above RSS for
initial testing.

13. NASA – Internship Final Report
Summer 2015 Session13
become negligible. Although the Grabit Inc. pad is rigid, inclusion of a damped spring system, for example, could
provide both angular and translational compliance to the gripping plane.
Another area for future work is exploration of alternative electrostatic pad geometries. While a single electrostatic
plane yields acceptable gripping capabilities on flat or near flat surfaces, an assembly of multiple electrostatic pads
could allow for increased dexterity and ability to grip a variety of intricate structures, such as those which might be
found on satellite exteriors. This topic could address the obstacles presented by both small surface non-uniformities
as well as larger structural inconsistencies present on target satellites.
Not all future work must be concentrated on the end effector of the Universal Satellite Capture Arm though. The
extension mechanism of the arm could benefit from further manipulation as well. A potential arm configuration
which prompts interest is one featuring two Spiralift units, as opposed to the current arrangement with one Spiralift
unit and the accompanying scissor lifts. Two linear actuators could provide both increased support and reduced
complexity of the Universal Satellite Capture Arm. In addition to the substitution of the scissor supports with the
second linear actuator, investigation could be made into the utilization of different construction materials for the
rotating end effector, seeing as the current design is constructed completely from aluminum, iron, and steel.
Reducing the use of iron and steel for other materials would result in significant weight reduction, which is a
constant desire in the aerospace industry.
An Arduino was successfully utilized for rapid proof of concept relating to joystick control of the Universal
Satellite Capture Arm, due to its simplicity. However, the original intent of the project was to design and program a
touchscreen GUI interface using a 4 inch touchscreen EZTouchPLC Jr. Much groundwork was done toward the goal
of using the touchscreen PLC, from the construction of a custom-built RS-232 PLC programming cable to firmware
upgrades, pinout assignments, GUI programming attempts, and touchscreen tests. Unfortunately, although the logic
was simple, the ladder logic programming syntax within the EZTouch Panel software proved unusual enough that
troubleshooting could not be completed in a sufficiently timely manner to meet testing deadlines. There are many
advantages to using a PLC that would make future work to complete such a unit for the Universal Satellite Capture
Arm worthwhile.
After testing to determine optimal sensor placement is pursued, much work could go into the development of
algorithms to automate the satellite capture arm as well. A program could be developed to generate meaningful data
about object geometry and distance from the two axes of LEDDAR sensor data in real-time. This could further be
used to control steady approach toward the RSS. As the pan, tilt, and extend are in motion, data from the string
potentiometer used for measuring the boom extension distance could be used in combination with the azimuth-
elevation orientation data from the pan-tilt potentiometers to determine the position of the end effector relative to the
RSS. After the end effector and RSS are sufficiently close together, a human teleoperator could view the RSS on
their computer screen, confirm it as a desired target, and define the geometry in the VeriSens program. Following
this confirmation, a pre-programmed VeriSens algorithm could detect the axis of rotation and center of rotation of
the object. These outputs would be used to control the speed and direction of the spin motor so that the end effector
could successfully couple with the RSS.
In order to definitively demonstrate that capture, detumble, and manipulation of an object in microgravity can
truly be achieved using the Universal Satellite Capture Arm, the sixth DOF on the RSS must be free. Such testing is
only feasible in a microgravity environment. Since parabolic flights only offer a matter of seconds of uninterrupted
microgravity simulation per test, the choice testing facility would be the international space station. This again
highlights the importance of reducing the size and weight of the mechanism. Testing in a microgravity environment
is a fundamental necessity to fully advance the technology readiness level of this design concept.
VI. Conclusion
Currently, space agencies and private industries around the world are losing revenue and critical data as a result of
their inability to efficiently service satellites. Additionally, the rising threat of space debris looms without a clear
solution. Electrostatic adhesion is a demonstrated technology that allows for reliable and efficient capture and
manipulation of satellites. This technology could both extend the mission lifetime of hundreds of existing satellites
and ensure the safety and longevity of thousands of missions to come. This work validates that utilization of a
Universal Satellite Capture Arm is a viable solution for a secure space environment, and a secure future of space
exploration.
Acknowledgments
The team gives their most sincere thanks to their mentor, Tom Bryan, for his guidance and support throughout
the project. The team also extends their gratitude to Charles Cowen, Kenneth House, and Thomas DeMatteis for

14. NASA – Internship Final Report
Summer 2015 Session14
their support in hardware reutilization and machining, electronics assistance and troubleshooting, and information
technology support, respectively. Finally, the team gives their thanks to the Alabama, Massachusetts, and
Pennsylvania Space Grant Consortia as well as Marshall Space Flight Center for making the 2015 Robotics
Academy internship opportunities possible.
References
1
Bolonkin, Alexander, “New Methods of Removing Space Debris,” New York, 2014.
2
Garcia, Mark, “Space Debris and Human Spacecraft,” NASA, 2013, URL:
http://www.nasa.gov/mission_pages/station/news/orbital_debris.html [cited August 3, 2015].
3
Goddard Space Flight Center, “On-Orbit Satellite Servicing Study,” NASA, NP-2010-08-162-GSFC, URL:
http://ssco.gsfc.nasa.gov/images/NASA_Satellite%20Servicing_Project_Report_0511.pdf [cited August 5, 2015].
4
Electrogrip Incorporated, “Principles of Electrostatic Chucks,” URL:
http://www.electrogrip.com/Egrip2013Support/Principles1no2.pdf [cited July 25, 2015].
5
Leung, B. R., Goeser, N. R., Miller, L. A., and Gonzalez, S., “Validation of Electroadhesion as a Docking
Method for Spacecraft and Satellite Servicing,” NASA, 2014.