HARMONIA: A Hybrid Docking and Grappling System for Next-Generation In-Orbit Servicing and Active Debris Removal

The promulgation of orbital debris and the increasing complexity of international and commercial space missions demand a new paradigm in spacecraft docking and capture systems, one that unifies cooperative docking with non-cooperative grappling within a single, standardized architecture. This paper presents HARMONIA (Harmonized Adapter for Robust Modular Operations and Interoperability Applications), a novel hybrid modular docking and grappling system designed to bridge the operational gap between legacy docking standards and emerging on-orbit servicing and Active Debris Removal (ADR) requirements. Built around a fully compliant International Docking System Standard (IDSS) outer ring for interoperability with current and future human-rated spacecraft, HARMONIA integrates an adaptive inner capture mechanism that can engage non-cooperative targets such as defunct satellites and upper stages. Through a combination of robotic grippers, deployable nets, or electro-adhesive interfaces, HARMONIA enables secure, compliant capture of tumbling or unprepared objects while maintaining compatibility with the International Space Station (ISS), Lunar Gateway, and commercial platforms. This paper details HARMONIA’s architecture, mission applications, integration pathways, and its potential to serve as a foundational element of a sustainable, interoperable orbital infrastructure for next-generation space exploration and space operations.