A robotic device using gecko-inspired adhesives can grasp and manipulate large objects in microgravity
A robotic device using gecko-inspired adhesives can grasp and manipulate large objects in microgravity
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DOI：
10.1126/scirobotics.aan4545
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发表时间：
2017-06-21
期刊：
影响因子：
25
通讯作者：
Cutkosky, Mark R.
中科院分区：
文献类型：
--
作者：
Jiang, Hao;Hawkes, Elliot. W.;Cutkosky, Mark R.
抓取和操纵空间中不合作的物体是机器人系统面临的一个新挑战。许多在地球上使用的传统机器人抓取技术在太空中是不可行的。真空抓取器需要大气，粘性附件在太空的恶劣环境中失效，而手状的对置抓取器不适合大而光滑的太空碎片。我们提出了一个机器人夹具，可以轻轻地抓住，操纵，并释放两个平面和弯曲的不合作的物体直径大到一米，而在微重力。这是通过以下方式实现的：（i）空间合格的壁虎启发的干粘合剂，其通过施加剪切力选择性地打开和关闭，（ii）将这些粘合剂的小块扩展到大面积的负载分担系统，以及（iii）非线性被动手腕，其在操纵期间是刚性的，但在过载时是柔性的。我们还介绍和实验验证的模型，用于确定这样的粘合剂系统的力和力矩的限制。微重力试验表明，基于干粘附的机器人抓取器是消除低地球轨道空间碎片和加强空间飞行任务的一种可行选择。
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.