TY - GEN
T1 - A Genderless Docking Mechanism with Passive Locking and High Rotation Misalignment Tolerance for Modular Space Robots
AU - Chen, Jian
AU - Wen, Xiaodong
AU - Wang, Hao
AU - Gong, Wei
AU - Deng, Zongquan
AU - Yu, Haitao
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Modular robots are gaining increasing attention in space services. The docking mechanism plays a critical role in performing self-healing and self-reconfiguration of modular robots. It is beneficial for the docking mechanism to operate with high efficiency, homogeneity and high misalignment tolerances. To meet these requirements, this paper presents a novel genderless docking mechanism. The construction of the docking mechanism is designed with features of passive locking and single-sided electromagnetic unlocking. To demonstrate the advantages of passive locking, the working processes of the axial and circumferential locking mechanisms are described in detail. Based on theoretical calculations and simulations, it is shown that the docking mechanism can provide fast connections or disconnections with a degree of translational and angular misalignment tolerances. This docking mechanism is intended for future applications in modular space robots or unstructured environment exploration robots.
AB - Modular robots are gaining increasing attention in space services. The docking mechanism plays a critical role in performing self-healing and self-reconfiguration of modular robots. It is beneficial for the docking mechanism to operate with high efficiency, homogeneity and high misalignment tolerances. To meet these requirements, this paper presents a novel genderless docking mechanism. The construction of the docking mechanism is designed with features of passive locking and single-sided electromagnetic unlocking. To demonstrate the advantages of passive locking, the working processes of the axial and circumferential locking mechanisms are described in detail. Based on theoretical calculations and simulations, it is shown that the docking mechanism can provide fast connections or disconnections with a degree of translational and angular misalignment tolerances. This docking mechanism is intended for future applications in modular space robots or unstructured environment exploration robots.
KW - genderless docking mechanism
KW - misalignment tolerances
KW - modular robots
KW - passive locking
UR - https://www.scopus.com/pages/publications/85147329632
U2 - 10.1109/ROBIO55434.2022.10011924
DO - 10.1109/ROBIO55434.2022.10011924
M3 - 会议稿件
AN - SCOPUS:85147329632
T3 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
SP - 303
EP - 308
BT - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Y2 - 5 December 2022 through 9 December 2022
ER -