REFUELING TOOL AND SYSTEM INCORPORATING THE REFUELING TOOL

The present disclosure relates to a robotically controlled satellite refueling tool and associated robotically controlled support and site preparation tools which facilitates on-orbit refueling by teleoperation of fill/drain valves of various designs and dimensions on satellites not originally prepared for on-orbit servicing, through the installation of quick connect safety valves, using vision-based feedback as well as feedback from sensors embedded in the refueling tool to operate a suite of adaptable and adjustable mechanisms. The refueling tool has an open architecture to allow a refueling tool vision system to see the fill/drain valve and the section of the refueling tool that is engaged with the fill/drain valve. The support tools include a blanket cutter tool (605, Fig. 32), a blanket handler tool (606, Fig. 33), a wire cutter tool (607, Fig. 34), a gripper tool, and the site preparation tools include a B-nut removal tool (608, Fig. 35) and a crush seal removal tool (609, Fig. 36). Each of these tools includes a common base structure (603, Fig. 30) which is interfaced to the end effector of the robotic arm for transmitting rotation and torque to the various tools.