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Related Experiment Video

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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

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Published on: November 14, 2015

A robotic device using gecko-inspired adhesives can grasp and manipulate large objects in microgravity.

Hao Jiang¹, Elliot W Hawkes², Christine Fuller³

¹Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA. jianghao@stanford.edu.

Science Robotics

|November 7, 2020

Summary

A new robotic gripper uses space-qualified gecko-inspired dry adhesives to grasp uncooperative objects in microgravity. This technology offers a viable solution for space debris removal and future space missions.

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Design and Use of an Apparatus for Presenting Graspable Objects in 3D Workspace

Design and Use of an Apparatus for Presenting Graspable Objects in 3D Workspace

Published on: August 8, 2019

Area of Science:

Robotics
Materials Science
Aerospace Engineering

Background:

Traditional robotic grasping methods are ineffective for uncooperative objects in space due to environmental constraints like vacuum and extreme temperatures.
Existing grippers face limitations with large, smooth space debris, necessitating novel solutions for in-space manipulation.

Purpose of the Study:

To develop and validate a robotic gripper capable of grasping and manipulating diverse uncooperative objects in microgravity.
To address the challenge of space debris removal and enhance the capabilities of robotic missions in space.

Main Methods:

Utilized space-qualified gecko-inspired dry adhesives activated by shear forces for grasping.
Implemented a load-sharing system to scale adhesive patches for large object manipulation.
Incorporated a nonlinear passive wrist for controlled stiffness and compliance during manipulation.

Main Results:

Demonstrated successful grasping, manipulation, and release of flat and curved objects up to one meter in diameter in microgravity.
Developed and experimentally verified a model for predicting the force and moment limits of the dry adhesive system.
Validated the effectiveness of dry adhesion-based robotic grippers for space debris elimination.

Conclusions:

Robotic grippers employing gecko-inspired dry adhesives are a feasible technology for in-space applications.
This approach provides a promising solution for active space debris removal in low Earth orbit.
The developed system enhances the potential for complex robotic missions and object manipulation in the space environment.