Paper Info
Title
A robotic device using gecko-inspired adhesives can grasp and manipulate large objects in microgravity.
Abstract
Grasping and manipulating uncooperative objects in space is an emerging challenge for robotic systems. Many traditional robotic grasping techniques used on Earth are infeasible in space. Vacuum grippers require an atmosphere, sticky attachments fail in the harsh environment of space, and handlike opposed grippers are not suited for large, smooth space debris. We present a robotic gripper that can gently grasp, manipulate, and release both flat and curved uncooperative objects as large as a meter in diameter while in microgravity. This is enabled by (i) space-qualified gecko-inspired dry adhesives that are selectively turned on and off by the application of shear forces, (ii) a load-sharing system that scales small patches of these adhesives to large areas, and (iii) a nonlinear passive wrist that is stiff during manipulation yet compliant when overloaded. We also introduce and experimentally verify a model for determining the force and moment limits of such an adhesive system. Tests in microgravity show that robotic grippers based on dry adhesion are a viable option for eliminating space debris in low Earth orbit and for enhancing missions in space.
Year
DOI
Venue
2017
10.1126/scirobotics.aan4545
SCIENCE ROBOTICS
Field
DocType
Volume
Space debris,Robotic systems,GRASP,Simulation,Mechanical engineering,Adhesive,Shear force,Metre (music),Engineering,Grippers
Journal
2
Issue
ISSN
Citations 
7
2470-9476
7
PageRank 
References 
Authors
0.84
0
10
Name
Order
Citations
PageRank
Elliot Hawkes110023.76
Christine Fuller270.84
Matthew Estrada391.23
Suresh Srinivasan4278.47
Neil Abcouwer570.84
Amy Kyungwon Han6193.40
Shiquan Wang7252.24
Christopher J. Ploch870.84
Aaron Parness96812.26
Mark R. Cutkosky103132484.31