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- W2794014474 abstract "Space debris has become a worldwide problem in recent years. The upper stages of rocket launch vehicles account for almost half of the debris. Removing upper stages of the rockets that become debris is very effective. However, these spacecrafts are not designed for on-orbit capture. In this paper, we present a versatile debris gripper that can capture the upper stage of rockets and spacecrafts that become debris, on orbit. This gripper aims to capture Payload Attachment Ring (PAR) and nozzle that most rockets and spacecrafts have in common. The gripper is designed based on caging to capture the PAR from the inner side, and nozzle from the outer side, in case of position and attitude errors existing. The tendon actuated system is selected for actuation of the gripper, to reduce the mass property in considering its use in space. The mechanisms of the extensional boom and the rotational hand are proposed, and verified experimentally." @default.
- W2794014474 created "2018-03-29" @default.
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- W2794014474 date "2017-12-01" @default.
- W2794014474 modified "2023-09-26" @default.
- W2794014474 title "Concept and mechanism of the tendon actuated versatile debris gripper" @default.
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- W2794014474 doi "https://doi.org/10.1109/robio.2017.8324734" @default.
- W2794014474 hasPublicationYear "2017" @default.
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