Article
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Preserved in Portico This version is not peer-reviewed
Design and Operation of a Gripper for a Berthing Task
Version 1
: Received: 24 May 2023 / Approved: 25 May 2023 / Online: 25 May 2023 (10:29:58 CEST)
A peer-reviewed article of this Preprint also exists.
Titov, A.; Russo, M.; Ceccarelli, M. Design and Operation of a Gripper for a Berthing Task. Inventions 2023, 8, 82. Titov, A.; Russo, M.; Ceccarelli, M. Design and Operation of a Gripper for a Berthing Task. Inventions 2023, 8, 82.
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-profiled CubeSats. Equilibrium conditions are used to choose fingertips shape and parameters for grasping the CubeSat body. 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 technique, 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.
Keywords
Space Robotics; On-Orbit Service Robotics; Space Berthing; Space Grippers; CubeSats
Subject
Engineering, Aerospace Engineering
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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