The document discusses nanosatellite deployers, which isolate CubeSats from the launch vehicle and main payload and deploy them into orbit. It describes several common deployer types, including the P-POD, ISI-POD, X-POD, NANORACKS, RSC-POD, and CSD. The document summarizes simulations and experiments that analyzed factors affecting CubeSats' tip-off rates after deployment, such as their mass properties, spring stroke distances, and clearances between guide rails. Ground and microgravity flight tests indicated 3U CubeSats typically have maximum rotational rates under 10°/s after deployment, while 1U CubeSats' rates

1. Deployers for nanosatellites
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2. Outline
•
•Kinematics &
•
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3. CubeSat Deployers
P-POD, ISI-POD, X-POD, NANORACKS, RSC-POD, CSD
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4. CubeSat Deployer
isolates installed
CubeSat Satellite from
the launch vehicle and
the main payload
Cubesat Deployer
Access ports Door spring
Door
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Body (tube) providing a
Faraday cage
Guide rails

5. Deployer TYPE per year
0
20
40
60
80
100
120
2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015
J-SSOD J-POD T-POD P-POD SSPL X-POD ISI-POD CDS NRCSD PSL
Source: https://sites.google.com/a/slu.edu/swartwout/home/cubesat-database
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6. •
•
•
•
P-POD
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7. •
•
•
X-POD
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8. •Modular design
•1U, 2U, 3U versions
•Resettable and reusable
electrical actuator
•Extra large available
envelope: 9 mm on each
side
ISI-POD
ImageSource: https://www.flickr.com/photos/nasa2explore/14995539561 XII Summer Space School, Samara, 2016 8

9. •NRCSD is capable of
holding six CubeSat Units
•Access for Remove Before
Flight pins and charging
systems is provided
through access panels
located on the topside of
the NRCSD
NanoRacks DEPLOYER
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UAPSat
ArduSat-2
SkyCube
LitSat-1
LituanicaSAT-1

10. •NRCSD is moved outside
via the Airlock of Kibo
module
•
NanoRacks DEPLOYER
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11. •
•
SRC-POD
SamSat-218D
Imageby Dmitri Zaretskiy XII Summer Space School, Samara, 2016 11

12. •
•Pushing platform
SRC-POD
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SamSat-218D

13. •There has been an
increasing demand for a
larger satellite standard
within the community
•6U CubeSat Design
Specification Rev.
PROVISIONAL (May 2016)
•The maximum mass of a 6U
CubeSat shall be 12 kg
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6U Specification

14. TYVAK (USA)
•Based on NASA NLAS Mk. I
•Carry 6U = 3U+3U = 6x1U
•Single door or two doors
configuration
•Optional electrical
interface to payload
through back plate
•Pin-puller release
mechanism
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NLAS Mk. II
Tyvak Nanosatellite Launch Adapter System (NLAS) Mk. II User Guide

15. Advanced CSD
Canisterized satellite
dispenser (CSD) by
•Patent US 20140319283 A1
•3U, 6U, 12U, 27U sizes
•2 kg per U mass capability
•The CSD can be mounted at
any surface
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16. Advanced CSD
• Satellites includes tabs on a
low portion
• The act of closing its door
preloads the payload tabs
that secured the satellite
during transport and launch
•
• Constant dispensing force
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17. Deployment DYNAMICS
What angular rate should we expect?
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18. •
•
QUESTIONS
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19. •
•Properties of the deployer
•Properties of the CubeSat
•
What Affect the CubeSat Tip-OFF Rate?
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20. •
𝑐 = (𝑃0 − 𝑃𝑒)/ℎ
•
𝑚 – CubeSat + platform mass [kg]
𝑃0 – main spring preload [N]
𝑐 – main spring stiffness [N/m]
ℎ – spring stroke [m]
CubeSat Translational Motion
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1
2

21. Initial conditions
Position
𝑧 = 𝑃0 1 − cos 𝑘 𝑡 /𝑐
Velocity
Deploying velocity
𝑾 is the spring energy
CubeSat Translational Motion
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1
2
3

22. •3U CubeSat
•m = 3 kg
•P0 = 8 N, c = 23.3 N/m
•h = 0.340 m
•Spring energy W ≈ 1.4 J
•th≈ 0.5 s, V ≈ 1 m/s
•a < 2.7 m/s2
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CubeSat Translational Motion

23. Kinematics model
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24. Constraints equations
24

25. ANGULAR MOTION: Kinematics
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26. ANGULAR MOTION: Kinematics
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27. ANGULAR MOTION: Kinematics
27

28. •CubeSat width
•Gap
•Velocity
3U CubeSat
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29. Kinematic estimation for
•CubeSat width
•Gap
•Velocity
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1U CubeSat

30. If zA= H then
For 𝑉 𝐴 = 1 m/s, 𝑤 = 0.1 m
and 𝛿 = 0.5 mm we get
and 𝑅 𝐷 < 0 (impossible)
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Limitations of THE kinematicS model
1

31. 𝑚 𝑧ሷ = 𝐹𝑧 + 𝑅D sin 𝜑
𝑚 𝑥ሷ = 𝐹𝑥 − 𝑅D cos 𝜑 + 𝑅A
𝐽 𝜑ሷ = 𝐹𝑧𝑏 𝑥 𝑐 − 𝐹𝑦𝑏 𝑧 𝑐 −
𝑅D 𝐵𝐷 − 𝑧 𝑐
Dynamic equations
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32. Constraint equation for A
Constraint equation for XD
Constraints EQUATIONS
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33. Reaction forces
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𝐹 > 0
• 𝑅 𝐴 > 0, 𝑅 𝐷 > 0
• 𝑅 𝐴 > 0, 𝑅 𝐷 = 0

34. Simulation results
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35. Effects of the parameters
•Spring Stroke
•Clearance between
guiding rails
CUBESAT PARAMETERS
• +Z CM position
• +XY CM position
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36. 1U: Center of Mass position
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37. •1U
m=1 kg, V=1 m/s, δ = 0.5 mm
ωmax = 45 °/s
•3U
m=3 kg, V=1 m/s, δ = 0.5 mm
ωmax = 6 °/s
•The tip-off rate increases
with the shifting of the CM
to the pusher plate.
3U: Center of Mass position
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38. 1U: CLEARANCE BETWEEN GUIDING RAILS
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39. 1U: Spring Stroke
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40. •1U
hp=113 mm: ωmax= 40 °/s
hp= 50 mm: ωmax< 10 °/s
•3U
hp=340 mm: ωmax= 5 °/s
hp=200 mm: ωmax< 2 °/s
3U: Spring Stroke
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41. •Parametric model for
CubeSats of any size
•MSC.ADAMS CONTACT
FORCES simulate contacts
of CubeSat with the guide
rails
•An arbitrary motion of the
deployer can be taken into
account
MSC.ADAMS Model
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42. 1U: hp=110 mm
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43. 1U: hp=50 mm
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44. 3U: hp=340 mm
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45. 3U: hp=220 mm
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46. MSC.ADAMS simulation results
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Plate
stop
Spring
plate

47. Experiments and Flight Tests
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48. •In 2014 PSC performed
series of tests in reduced
gravity environment
•Rotation rates and velocity
of 3U and 6U payloads as a
function of dispensing from
CSD are measured
MICRO-GRAVITY FLIGHT
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Source: F. Azure, R. Hevner, and S. Spring, “Lessons learned measuring 3U and 6U
payload rotationand velocity when dispensed in reduced gravity environment”
Cubesat Developers ConferenceSan Luis Obispo, CA. 2015.
https://youtu.be/0MCJWuBLyv4?list=PLXWVQCV1tdCX6z3r0RL7iQy7ZrcV77rws

49. Rotation RATES
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•Rotation rates of 3U
CubeSat along any axis are
less than 10 o/s (excluding
1 experiment)
•Rotation rates of 6U
CubeSat along any axis are
less than 10 o/s
Source: http://www.planetarysystemscorp.com (CSD-Data-Sheet.pdf)
3U
6U
+10
+10
-10
-10

50. The angular velocities are
measured using 4 laser
triangulation sensors
handling the increasing
difference between readings
of the sensors
RSC-POD Ground Experiment
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51. •Maximum angular velocity
for CM shifted to 15 mm
from axis of symmetry
𝜔 ≤ 10 𝑜/s
•Median value
𝜔 ≈ 3 𝑜/s
SRC-POD Ground Experiment
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52. XII Summer Space School, Samara, 2016 52
On-orbit ANGULAR rate
CubeSat Deployer deg/s
LightSail P-POD 7
CanX-2 X-POD 3…5
AISSat-1 X-POD 6
UNIBRITE X-POD 8…9
QB50 req. ISI-POD < 50

53. 28 APRIL 2016
•First Launch from the new
spaceport Vostochny
•Main Payload:
• Lomonosov satellite
• Aist-2D
•Piggyback payload:
• SamSat-218D
SRC-POD FLIGHT TEST
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54. •Lomonosov and Aist-2D
satellites delivers first
scientific results and
images
•Telemetry data indicated
that SamSat-218D
successfully deployed from
RSC-POD, but no signal has
been received yet
Mission Status
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55. Conclusion
•The simulation results suggest that the angular rate of
1U CubeSats after deployment can reach 50 o/s
•The simulation results, experimental data show that
the angular rate of 3U CubeSat is less than 10 o/s
•The angular rate noticeably depends on the CM
position of the CubeSat and the motion of the pusher
plate of the deployer.
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