A Theory of Soft Capture

2017 ◽  
Vol 119 (3) ◽  
pp. 571-596 ◽  
Author(s):  
Per J. Agrell ◽  
Axel Gautier
Keyword(s):  
Soft Capture

Design, testing and evaluation of an end-effector for self-relocation

Robotica ◽  
2015 ◽  
Vol 34 (12) ◽  
pp. 2689-2728 ◽  
Author(s):  
Feng Han ◽  
Kui Sun ◽  
Yu Liu ◽  
Hong Liu
Keyword(s):  
Degrees Of Freedom ◽  
Physical Simulation ◽  
Industrial Robot ◽  
Space Environment ◽  
Air Bearing ◽  
End Effector ◽  
Six Degrees Of Freedom ◽  
Soft Capture ◽  
End Effectors ◽  
Prototype Design

SUMMARYTwo identical end-effectors are indispensable for self-relocation of a space manipulator, which is an effective way of extending its servicing capability. The prototype design is intimately linked to the requirements. The significant features and functionality of the end-effector and its grapple fixture are described, including the key analysis efforts. The characteristics of the end-effector and their suitability for self-relocation and payload handling were confirmed by testing, which used two prototype end-effectors, a semi-physical simulation testbed system with two, six degrees of freedom (DOF) industrial robot arms, and an air-bearing testbed system with a seven DOF manipulator. The results demonstrate that the end-effector satisfies the requirements and it can work well in a simulated space environment. With the compliance motion of the manipulator, the end-effector can perform soft capture and the manipulator can securely self-relocate and handle the payload.

Soft capture of two coordinated evaders

2013 ◽  
Vol 52 (6) ◽  
pp. 949-954
Author(s):  
M. N. Vinogradova ◽  
N. N. Petrov
Keyword(s):  
Soft Capture

Soft capture of earth-orbiting hypervelocity particles with aerogel

2001 ◽  
Vol 26 (1-10) ◽  
pp. 39-51 ◽  
Author(s):  
R.P. Bernhard ◽  
F. Hörz ◽  
T.H. See ◽  
J.L. Warren
Keyword(s):  
Soft Capture

scholarly journals Generalized Modeling of Soft-Capture Manipulator with Novel Soft-Contact Joints

Energies ◽  
2020 ◽  
Vol 13 (6) ◽  
pp. 1530
Author(s):  
Xiaodong Zhang ◽  
Sheng Xu ◽  
Chen Jia ◽  
Gang Wang ◽  
Ming Chu
Keyword(s):  
Modeling Method ◽  
Soft Contact ◽  
Floating Base ◽  
Contact Joint ◽  
Adams Software ◽  
Soft Capture ◽  
Simulation Results

The space-borne manipulator has been playing an important part in docking tasks. Docking collision can easily lead to instability of both the manipulator and floating base. Aiming at the problem of soft capture, a novel soft-contact joint with dual working modes is developed, especially to buffer and unload the spatial collision momentum. Furthermore, considering a series-wound soft-capture manipulator with multi-joints, a generalized modeling method was established by using the Kane approach. Both the benefits of soft-contact joint and the effectiveness of dynamics equations are verified in MATLAB and Adams software by simulations of a two-joint manipulator with eight-DOF. The comparative simulation results showed the advantages of the proposed soft-contact joint in reducing instability from spatial impact.

scholarly journals Design and Simulation of Dual-mode Transmission Joint for Spatial Soft Capture

2020 ◽  
Vol 56 (19) ◽  
pp. 160
Author(s):  
XU Sheng ◽  
CHU Ming ◽  
ZHANG Xiaodong ◽  
SUN Hanxu
Keyword(s):  
Dual Mode ◽  
Soft Capture
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