Patent ID: 8006938

Claim:
A servicing spacecraft for performing multiple client spacecraft servicing missions comprising: a guidance navigation and control system for independent flight operation during a client spacecraft servicing mission; a propulsion system including a propellant tank for holding propellant to be used by the propulsion system for enabling independent flight operation of the servicing spacecraft; and a propellant transfer servicing system for transferring propellant from the propellant tank to a propellant tank of a client spacecraft, said propellant transfer servicing system comprising a robotic arm having multiple sections that are pivotably coupled to each other in series, a distal section of said multiple sections having a propellant transfer coupling end for coupling with a propellant transfer coupling of said client spacecraft, said robotic arm comprising a first motor that drives pivoting of said distal section relative to a next section of said multiple sections, said next section and said distal section being pivotably coupled to each other, and further comprises a second motor that drives pivoting of said next section relative to another section of said multiple sections, said next section and said another section being pivotably coupled to each other, and a controller for controlling the operation of said first and second motors and the transfer of propellant from said propellant tank of said servicing spacecraft to said propellant tank of said client spacecraft via said propellant transfer coupling end of said distal section of said robotic arm when said propellant transfer coupling end of said distal section of said robotic arm is coupled to said propellant transfer coupling of said client spacecraft.