Bioinspired flexible gripper for vacuum non-cooperative target capture

Abstract

With the development of space exploration activities, the proliferation of non-cooperative targets in space, such as defunct satellites and space debris, has made the development of efficient and reliable non-cooperative target capture technologies in space a priority for space exploration. In this paper, a flexible gripper inspired by the dermo-muscular sac found in flatworms is presented to address the challenges of non-cooperative target capture in the vacuum environment of space. The gripper design leverages magnetorheological fluid (MRF) and a magnetic field to enable adjustable stiffness, facilitating the effective grasping of delicate target objects while ensuring a stable connection post-capture. Extensive tests demonstrate the strong potential of the gripper for space applications, showcasing its ability to adjust pre-grip contact force and increase gripping force by adjusting indentation depth. The simplicity of the design contributes to ease of manufacturing, making it a promising tool for future space missions.