Robotic manipulator for CubeSat

The rapid advancement of space technologies and the growing demand for affordable satellite solutions have led to the increased use of small satellites in both research and commercial applications. CubeSats are small, low-cost satellites that adopt a standardized size and form factor. In recent years, they have become increasingly widespread due to their suitability for addressing future space challenges, such as the on-orbit assembly of space structures, the servicing and repair of damaged satellites and the deorbiting of space debris. In parallel, the concept of the digital twin, digital replicas of real systems, has gained significant attention in the aerospace field, as it makes possible to simulate, monitor and predict the behavior of the physical system. This thesis work is part of a broader research project aimed at the development of CubeSat robotic technologies and the implementation of a digital twin for the system. The objectives of the project include the development of a robotic arm for CubeSats with an electro-adhesive gripping mechanism and its experimental validation under simulated microgravity conditions, the creation and experimental validation of a digital twin of the entire system and the demonstration of the functionality of the developed system in a simulated environment for a space debris removal mission. Within this framework, the present study focuses on the digital twin, with particular focus on modeling a brushless DC electric motor for the CubeSat robotic manipulator using Matlab/Simulink. The model has been integrated into the complete CubeSat digital twin, previously implemented at the DIMEAS department of Politecnico di Torino, and the control law of the robotic arm has also been developed. Finally, the model has been validated using experimental data to ensure a high-fidelity representation of the CubeSat’s dynamic behavior. The electric motor model has been successfully designed and integrated into the complete digital twin model. Future refinements may enhance accuracy and reliability, resulting in a simulated response that more closely matches the real CubeSat’s dynamics.