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Yin Zhang, Qiang Zhan The Capturing of Space Debris with a Spaceborne Multi-fingered Gripper

Опубликовано в журнале "Исследования космоса" в № 3 за 2017 год в рубрике "Космонавтика" на страницах 208-215.

Аннотация: 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 fl ight 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-fi ngered gripper was studied in order to obtain the key factors that affect the capturing effect. The contact state between the gripper fi ngers and SwissCube was described using a defi ned 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 fi ngers and different friction conditions between fi ngers 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 fi nding was obtained that the contact friction and fi nger fl exibility are two very important factors that affect the capturing result.

Ключевые слова: Robotics, Design and Development, Contact Friction, Flexibility, Capturing process, Multi-fi ngered Gripper, Space Debris, Virtual Prototype Development, Low Earth orbit, SwissCube.

DOI: 10.7256/2453-8817.2017.3.24667

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