Design of a Modular Mobile Inspection and Maintenance Robot for an Orbital Servicing Hub

2025-07-18

AI Summary

To address the challenges of inefficient in-orbit component and infrastructure health monitoring and slow maintenance response on orbital service stations (e.g., STARFAB), this paper proposes a modular mobile inspection and maintenance robot system. The system centers on a standardized, walkable robotic-arm–carriable mobile inspection unit integrating high-resolution visual, 3D profilometric, thermal imaging, and non-destructive testing sensors, along with lightweight in-orbit repair tools. It employs unified mechanical and electrical interfaces to enable multi-robot coordination, autonomous navigation, and sensor data fusion. Unlike conventional fixed or single-function platforms, the design unifies inspection, diagnostics, and maintenance capabilities while ensuring deployment flexibility. Ground-based simulation experiments validate the module’s reliable mobility, multi-modal perception capability, and efficient collaborative operation with robotic arms. This work establishes a scalable technical paradigm for sustainable commercial space in-orbit servicing and maintenance.

Technology Category

• Intelligent Robots: Multimodal Perception & Sensor Fusion
• Planning, Routing, and Scheduling: Replanning and Plan Repair
• Computer Vision: Multi-modal Vision

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Energy management for devices in mobile Web and WoT environments
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Search and Retrieval-Augmented AI: Retrieval-Augmented Generation (RAG) and multi-modal RAG

Abstract

The use of autonomous robots in space is an essential part of the "New Space" commercial ecosystem of assembly and re-use of space hardware components in Earth orbit and beyond. The STARFAB project aims to create a ground demonstration of an orbital automated warehouse as a hub for sustainable commercial operations and servicing. A critical part of this fully-autonomous robotic facility will be the capability to monitor, inspect, and assess the condition of both the components stored in the warehouse, and the STARFAB facility itself. This paper introduces ongoing work on the STARFAB Mobile Inspection Module (MIM). The MIM uses Standard Interconnects (SI) so that it can be carried by Walking Manipulators (WM) as an independently-mobile robot, and multiple MIMs can be stored and retrieved as needed for operations on STARFAB. The MIM carries high-resolution cameras, a 3D profilometer, and a thermal imaging sensor, with the capability to add other modular sensors. A grasping tool and torque wrench are stored within the modular body for use by an attached WM for maintenance operations. Implementation and testing is still ongoing at the time of writing. This paper details the concept of operations for the MIM as an on-orbit autonomous inspection and maintenance system, the mechanical and electronic design of the MIM, and the sensors package used for non-destructive testing.

Problem

• Designing a modular robot for orbital inspection and maintenance tasks
• Enabling autonomous monitoring of space hardware components and facilities
• Integrating multiple sensors and tools for non-destructive testing in space

Innovation

• Modular robot with Standard Interconnects for flexibility
• High-resolution cameras and sensors for non-destructive testing
• Grasping tool and torque wrench for maintenance operations