Multibody Simulation of 1U CubeSat Passive Attitude Stabilisation Using a Robotic Arm

Robotics plays a pivotal role in contemporary space missions, particularly in the development of robotic manipulators for operations in environments that are inaccessible to humans. In accordance with the trend of integrating multiple functionalities into a single system, this study evaluates the feasibility of using a robotic manipulator, termed a C-arm, for passive attitude control of a 1U CubeSat. A simplified multibody model of the CubeSat system was employed to assess the robotic arm’s functionality as a gravity gradient boom and subsequently as a passive magnetic control mechanism by utilising a permanent magnet at its extremity. The effectiveness of the C-arm as a gravitational boom is constrained by size and weight, as evidenced by the simulations; the pitch angle oscillated around ±40°, while roll and yaw angles varied up to 30° and 35°, respectively. Subsequent evaluations sought to enhance pointing accuracy through the utilisation of permanent magnets. However, the absence of dissipative forces resulted in attitude instabilities. In conclusion, the integration of a robotic arm into a 1U CubeSat for passive attitude control shows potential, especially for missions where pointing accuracy can tolerate a certain range, as is typical of CubeSat nanosatellite missions.