论文标题
Astrobee自由飞行机器人的壁虎粘合剂抓手的设计和开发
Design and Development of a Gecko-Adhesive Gripper for the Astrobee Free-Flying Robot
论文作者
论文摘要
辅助自由飞行的机器人是一个有前途的平台，用于与宇航员一起执行需要与环境互动的任务。但是，当前的自由飞行机器人平台受到现有操纵技术的限制，能够掌握和操纵周围物体。取而代之的是，壁虎风格的胶粘剂为辅助自由使用应用程序使用替代抓握和操纵范式提供了许多优势。在这项工作中，我们介绍了壁虎启发的粘合剂抓手的设计，用于为Astrobee机器人栖息和握住动作，这是一个自由飞行的机器人，这是一个自由飞行的机器人，目前在国际空间站上运行。我们为2019年推出的Gripper单元提供了软件和硬件集成详细信息，该单元于2019年启动了与Astrobee进行飞行的实验。最后，我们为在自由浮动的航天器测试床上用抓手和Astrobee进行的地面实验提供了初步结果。
Assistive free-flying robots are a promising platform for supporting and working alongside astronauts in carrying out tasks that require interaction with the environment. However, current free-flying robot platforms are limited by existing manipulation technologies in being able to grasp and manipulate surrounding objects. Instead, gecko-inspired adhesives offer many advantages for an alternate grasping and manipulation paradigm for use in assistive free-flyer applications. In this work, we present the design of a gecko-inspired adhesive gripper for performing perching and grasping maneuvers for the Astrobee robot, a free-flying robot currently operating on-board the International Space Station. We present software and hardware integration details for the gripper units that were launched to the International Space Station in 2019 for in-flight experiments with Astrobee. Finally, we present preliminary results for on-ground experiments conducted with the gripper and Astrobee on a free-floating spacecraft test bed.
