Experimental Platform of Space Robot Grasping Various Nonprehensile Targets

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Experimental Platform of Space Robot Grasping Various Nonprehensile Targets
	Liu JG(刘金国)2 ; Feng JK(冯靖凯)1,2 ; Zhang X(张鑫)1,2
	2018
会议日期	June 20-21, 2018
会议地点	Munchen, Germany
页码	70-76
英文摘要	Active debris removal is regarded as a necessary mission for protecting space environment in the long-term. For simulating free-flying space robots to grasp space targets, a novel experimental platform is developed in the laboratory condition. Its main superiority reflects in its simplicity, extendibility and modular design. And the three subsystems of the platform: the structure system, pneumatic system, and electronic system are introduced in detail. According to the current literature, we found the definition of the non-cooperative targets is not precise enough. Thus, a subdivision of noncooperative targets into prehensile and non-prehensile targets is proposed, where the non-prehensile target means the target does not have prehensile handles and cannot be grasped by mechanical grippers. Based on the caging-based grasping method, several caging-based end-effectors are fabricated to grasp non-prehensile targets. And the corresponding caging experiments are conducted to verify the feasibility and effectiveness of the proposed method.
产权排序	1
会议录	ISR 2018 - 50th International Symposium on Robotics
会议录出版者	VDE VERLAG GMBH
会议录出版地	Berlin
语种	英语
ISBN号	978-3-8007-4699-6
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/23795]
专题	沈阳自动化研究所_空间自动化技术研究室
通讯作者	Liu JG(刘金国)
作者单位	1.University of Chinese Academy of Sciences, 100049, Beijing, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110016, Shenyang
推荐引用方式 GB/T 7714	Liu JG,Feng JK,Zhang X. Experimental Platform of Space Robot Grasping Various Nonprehensile Targets[C]. 见:. Munchen, Germany. June 20-21, 2018.