MATEC Web Conf.
Volume 114, 20172017 International Conference on Mechanical, Material and Aerospace Engineering (2MAE 2017)
|Number of page(s)||6|
|Section||Chapter 3: Aerospace|
|Published online||10 July 2017|
The Capturing of Space Debris with a Spaceborne Multi-fingered Gripper
1 Robotic institute, Beihang University, 100191 Beijing, China
2 Robotic institute, Beihang University, 100191 Beijing, China
a Corresponding author: firstname.lastname@example.org
With the massive launching of spacecraft, more and more space debris are making the low Earth orbit (LEO) much more crowded which seriously affects the normal flight of other spacecrafts. Space debris removal has become a very urgent issue concerned by numerous countries. In this paper, using SwissCube as a target, the capturing of space debris with a spaceborne four-fingered gripper was studied in order to obtain the key factors that affect the capturing effect. The contact state between the gripper fingers and SwissCube was described using a defined contact matrix. The law of momentum conservation was used to model the motion variations of the gripper and SwissCube before and after the capturing process. A zero-gravity simulation environment was built using ADAMS software. Two typical kinds of capturing processes were simulated considering different stiffness of fingers and different friction conditions between fingers and SwissCube. Comparisons between results obtained with the law of momentum conservation and those from ADAMS simulation show that the theoretical calculations and simulation results are consistent. In addition, through analyzing the capturing process, a valuable finding was obtained that the contact friction and finger flexibility are two very important factors that affect the capturing result.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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