2022
DOI: 10.1017/s0263574722000509
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Kinematic design of a novel Multi-legged robot with Rigid-flexible coupling grippers for asteroid exploration

Abstract: Multi-legged robots with rigid-flexible coupling grippers have appealing applications to asteroid exploration with the microgravity. However, these robots usually have significantly complicated structures, which leads to a great challenge for the kinematic design.This paper proposes the kinematic design method for a novel multi-legged robot with the microspine gripper. First, the structure of the multi-legged asteroid exploration robot and the microspine gripper are demonstrated. Second, four performance evalu… Show more

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