Experimental Platform of Space Robot Grasping Various Nonprehensile Targets
Konferenz: ISR 2018 - 50th International Symposium on Robotics
20.06.2018 - 21.06.2016 in München, Germany
Tagungsband: ISR 2018
Seiten: 7Sprache: EnglischTyp: PDFPersönliche VDE-Mitglieder erhalten auf diesen Artikel 10% Rabatt
Zhang, Xin; Feng, Jingkai (State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110016, Shenyang & University of Chinese Academy of Sciences, 100049, Beijing, China)
Liu, Jinguo (State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110016, Shenyang, China)
Active debris removal is regarded as a necessary mission for protecting space environment in the long-term. For simulating free-flying space robots to grasp space targets, a novel experimental platform is developed in the laboratory condition. Its main superiority reflects in its simplicity, extendibility and modular design. And the three subsystems of the platform: the structure system, pneumatic system, and electronic system are introduced in detail. According to the current literature, we found the definition of the non-cooperative targets is not precise enough. Thus, a subdivision of noncooperative targets into prehensile and non-prehensile targets is proposed, where the non-prehensile target means the target does not have prehensile handles and cannot be grasped by mechanical grippers. Based on the caging-based grasping method, several caging-based end-effectors are fabricated to grasp non-prehensile targets. And the corresponding caging experiments are conducted to verify the feasibility and effectiveness of the proposed method.