Design and Operation of a Gripper for a Berthing Task

IF 2.1 Q2 ENGINEERING, MULTIDISCIPLINARY Inventions Pub Date : 2023-06-28 DOI:10.3390/inventions8040082
Alexander Titov, Matteo Russo, M. Ceccarelli
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引用次数: 0

Abstract

The idea of an extension of life for CubeSats is proposed to reduce space debris in a low-earth orbit. In this work, a gripper is designed for geometry-based grasping in berthing tasks. The grasping operation is outlined for square- and rectangle-shaped CubeSats. Equilibrium conditions are formulated to design the fingertips’ shape and parameters for grasping CubeSat bodies. A design scheme is proposed to provide the required accuracy. A design concept is developed into a lab prototype by using low-cost 3D printing manufacturing, and a mock-up grasping task that is representative of the berthing operation is evaluated with the lab prototype. Center-mass hanging setup for the prototype and grasped body is used to evaluate the impact of grasping, partially replicating the conditions in space by reducing the effect of gravity on the system.
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泊位作业夹具的设计与操作
延长立方体卫星寿命的想法是为了减少近地轨道上的空间碎片。在这项工作中,设计了一种抓取器,用于停泊任务中基于几何的抓取。抓取操作概述了方形和矩形立方体卫星。建立了平衡条件,设计了用于抓取立方体卫星物体的指尖形状和参数。提出了一种设计方案以提供所需的精度。通过使用低成本的3D打印制造,将设计概念开发为实验室原型,并用实验室原型评估了代表停泊操作的实体抓取任务。原型和被抓取物体的中心质量悬挂装置用于评估抓取的影响,通过减少重力对系统的影响,部分复制空间条件。
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来源期刊
Inventions
Inventions Engineering-Engineering (all)
CiteScore
4.80
自引率
11.80%
发文量
91
审稿时长
12 weeks
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