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- Title
A Novel Space Robot with Triple Cable-Driven Continuum Arms for Space Grasping.
- Authors
Dai, Yicheng; Li, Zuan; Chen, Xinjie; Wang, Xin; Yuan, Han
- Abstract
With the increasing demand of human beings for space exploration, space robots show great development potential. When grasping space objects with different sizes and shapes, cable-driven continuum arms have better performance than traditional robots. In this paper, a novel space robot with triple cable-driven continuum arms is proposed, which can achieve compliant grasping through multi-arm cooperation. The kinematic model of the robot is proposed and verified through simulations and experiments. Results show that the maximum repeat positioning error is no larger than 1 mm and the maximum tracking error is no larger than 2 mm, compared to the 300 mm long arm. In addition, the demonstration experiment of grasping a ball indicates the good performance of the robot in compliant grasping.
- Subjects
ROBOT hands; ROBOTS; SPACE exploration; HUMAN beings
- Publication
Micromachines, 2023, Vol 14, Issue 2, p416
- ISSN
2072-666X
- Publication type
Article
- DOI
10.3390/mi14020416