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: PDF

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Autoren:
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)

Inhalt:
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.