Using Tentacle Robots for Capturing Non-Cooperative Space Debris - A Proof of Concept

Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

“…Furthermore, with the qualitative comparative analysis, the proposed method has the following advantages: 1) Compared with tether nets [18], [19], tether grippers [20], [21], and unit-type caging methods [22], the proposed end-effectors are affixed at the end of robotic arms to form a combined cage; hence, is a simpler and easier-to-implement caging method with high reusability and reliability. 2) For a robotic tentacle [23], it is difficult to capture the non-graspable object in Fig. 1(b3), whereas the proposed method easily handles that object with dexterous manipulability.…”

“…Due to the vacuum and high-temperature-difference environment and practical factors such as weight and volume restriction requirements, these methods [14]- [16] are impracticable for grasping non-graspable objects in space [17]. For dealing with this class of objects, two main strategies are employed: One is to use flexible capturing theories and methods, including tether nets [18], [19], tether grippers [20], [21], robotic capsules [22] and robotic tentacles [23]; the other is to capture objects using robotic arms with customized capture effectors, of which end-effectors are the most important tools as they can directly determine the success of tasks [24]. An innovative strategy is proposed for adhering directly to the surfaces of objects and an electro-adhesive gripper [17] and a gecko-inspired adhesive gripper [3] are d e v el o pe d f o r ca p t u ri n g n o n -g ra sp a bl e o b je cts.…”

“…Their low reusability is another intrinsic weakness and cannot be ignored. The main drawbacks of the robotic tentacle [23] are its limited manipulability and low reliability. The main preconditions for using the adhesive grippers [3], [17] are that objects must have smooth and flat surfaces to ensure a large contact area and adhesive force, and they are susceptible to the space environment.…”