Lightweight Robot Arm for Capturing Large Space Debris

• 作者: Daisuke Uenaka Ryota Matsumoto Shin-Ichiro Nishida Shintaro Nakatani
• 来源期刊: 电气工程:英文版
• 学科: 工学
• 关键词: Space DEBRIS ACTIVE REMOVAL ROBOT control CAPTURE
• 年，卷（期）: 2018,（5）
• 页码范围: 271-280
• 页数: 10页
• 分类号: TM

摘要

Effective measures to mitigate space debris are urgently required.Active removal of space debris presents the most effective measures.This study examines a micro robotic satellite with a simple robot arm for active space debris removal.In this study,the details of a proposed active space debris removal system with a robot arm are proposed.The robot arm has flexible joints and a control method to capture the target.The results of feasibility studies,the performance assumed at each step,the prototyping of the capturing robot arm with flexible joints and with a new end-effecter,and their experiment result are presented.