Astrobee自由飞行机器人壁虎吸附式手爪的设计与研制
Design and Development of a Gecko-Adhesive Gripper for the Astrobee Free-Flying Robot
摘要：
辅助自由飞行机器人是一个很有前途的平台，可以支持宇航员并与他们一起执行需要与环境互动的任务。然而，当前的自由飞行机器人平台在能够抓取和操纵周围物体方面受到现有操纵技术的限制。相反，壁虎启发的粘合剂提供了许多优势，用于辅助自由飞行器应用中的替代抓握和操纵范例。在这项工作中，我们提出了一个壁虎启发的粘合剂夹具进行栖息和把握动作的Astrobee机器人，一个自由飞行的机器人目前在国际空间站上运行的设计。我们介绍了2019年发射到国际空间站的夹持器单元的软件和硬件集成细节，用于Astrobee的飞行实验。最后，我们提出了初步的结果进行地面实验的夹具和Astrobee在一个自由浮动的航天器试验台。
英文摘要：
Assistive free-flying robots are a promising platform for supporting and working alongside astronauts in carrying out tasks that require interaction with the environment. However, current free-flying robot platforms are limited by existing manipulation technologies in being able to grasp and manipulate surrounding objects. Instead, gecko-inspired adhesives offer many advantages for an alternate grasping and manipulation paradigm for use in assistive free-flyer applications. In this work, we present the design of a gecko-inspired adhesive gripper for performing perching and grasping maneuvers for the Astrobee robot, a free-flying robot currently operating on-board the International Space Station. We present software and hardware integration details for the gripper units that were launched to the International Space Station in 2019 for in-flight experiments with Astrobee. Finally, we present preliminary results for on-ground experiments conducted with the gripper and Astrobee on a free-floating spacecraft test bed.
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