A Novel Space Robot with Triple Cable-Driven Continuum Arms for Space Grasping-Reference-Cited by-同舟云学术

A Novel Space Robot with Triple Cable-Driven Continuum Arms for Space Grasping

Published:2023-02-10 Issue:2 Volume:14 Page:416
ISSN:2072-666X
Container-title:Micromachines
language:en
Short-container-title:Micromachines

Author:

Dai Yicheng¹²,Li Zuan¹,Chen Xinjie¹,Wang Xin¹^ORCID,Yuan Han¹²

Affiliation:

1. School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen 518055, China

2. Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen 518055, China

Abstract

With the increasing demand of human beings for space exploration, space robots show great development potential. When grasping space objects with different sizes and shapes, cable-driven continuum arms have better performance than traditional robots. In this paper, a novel space robot with triple cable-driven continuum arms is proposed, which can achieve compliant grasping through multi-arm cooperation. The kinematic model of the robot is proposed and verified through simulations and experiments. Results show that the maximum repeat positioning error is no larger than 1 mm and the maximum tracking error is no larger than 2 mm, compared to the 300 mm long arm. In addition, the demonstration experiment of grasping a ball indicates the good performance of the robot in compliant grasping.

Funder

National Natural Science Foundation of China

Science and Technology Innovation Committee of Shenzhen

Program of Shenzhen Peacock Innovation Team

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Mechanical Engineering,Control and Systems Engineering

Link

https://www.mdpi.com/2072-666X/14/2/416/pdf

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