Design and analysis of a deployable grasping mechanism for capturing non-cooperative space targets

Guotao Li; Peng Xu

doi:10.1016/j.ast.2020.106230

Design and analysis of a deployable grasping mechanism for capturing non-cooperative space targets

Guotao Li
, Peng Xu^*

^*Corresponding author for this work

Chinese Academy of Sciences
Harbin Institute of Technology Shenzhen

Research output: Contribution to journal › Article › peer-review

52 Scopus citations

Abstract

Space targets capture is an essential issue for space missions. This paper proposes a novel deployable grasping mechanism (DGM) that can be folded into a compact configuration for convenient transportation and deployed into an extensive configuration for grasping non-cooperative space targets. The DGM mainly consists of a series of serially connected basic deployable modules (BDMs). Each BDM is designed with a scissor mechanism and two parallelogram mechanisms. In order to deploy the BDMs synchronously, a unique connection mechanism is designed. The decoupled deployment motion and grasping motion enables the DGM to perform the capture operation at any motion state. For the proposed DGM, mobility, kinematics and stiffness analysis are performed. The characteristics and performance studied in this paper provide a basis for further investigation of the DGM in the area of space applications.

Original language	English
Article number	106230
Journal	Aerospace Science and Technology
Volume	106
DOIs	https://doi.org/10.1016/j.ast.2020.106230
State	Published - Nov 2020
Externally published	Yes

Keywords

Deployable grasping mechanism
Kinematics analysis
Non-cooperative space target
Stiffness analysis

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10.1016/j.ast.2020.106230

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title = "Design and analysis of a deployable grasping mechanism for capturing non-cooperative space targets",

abstract = "Space targets capture is an essential issue for space missions. This paper proposes a novel deployable grasping mechanism (DGM) that can be folded into a compact configuration for convenient transportation and deployed into an extensive configuration for grasping non-cooperative space targets. The DGM mainly consists of a series of serially connected basic deployable modules (BDMs). Each BDM is designed with a scissor mechanism and two parallelogram mechanisms. In order to deploy the BDMs synchronously, a unique connection mechanism is designed. The decoupled deployment motion and grasping motion enables the DGM to perform the capture operation at any motion state. For the proposed DGM, mobility, kinematics and stiffness analysis are performed. The characteristics and performance studied in this paper provide a basis for further investigation of the DGM in the area of space applications.",

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AU - Li, Guotao

AU - Xu, Peng

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AB - Space targets capture is an essential issue for space missions. This paper proposes a novel deployable grasping mechanism (DGM) that can be folded into a compact configuration for convenient transportation and deployed into an extensive configuration for grasping non-cooperative space targets. The DGM mainly consists of a series of serially connected basic deployable modules (BDMs). Each BDM is designed with a scissor mechanism and two parallelogram mechanisms. In order to deploy the BDMs synchronously, a unique connection mechanism is designed. The decoupled deployment motion and grasping motion enables the DGM to perform the capture operation at any motion state. For the proposed DGM, mobility, kinematics and stiffness analysis are performed. The characteristics and performance studied in this paper provide a basis for further investigation of the DGM in the area of space applications.

KW - Deployable grasping mechanism

KW - Kinematics analysis

KW - Non-cooperative space target

KW - Stiffness analysis

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DO - 10.1016/j.ast.2020.106230

M3 - 文章

AN - SCOPUS:85091492649

SN - 1270-9638

VL - 106

JO - Aerospace Science and Technology

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Design and analysis of a deployable grasping mechanism for capturing non-cooperative space targets

Abstract

Keywords

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