Design and experiments of a bio-inspired tensegrity spine robot for active space debris capturing
Year: 2021
Type: conference-paper
Abstract: Aiming at active space debris capturing, this paper proposes a novel tensegrity spine robot, inspired by the structure and mechanism of vertebrates’ spine. It consists of a series of conical rigid elements, which are linked with springs and stabilized in a tension network. The continuous bending of the robot is achieved by the actuation of three sets of cables. A prototype is built and a closed-loop control method is proposed for proof-of-concept experiments, including bending motion control, capturing a non-cooperative target, and tests of load performance. The experimental results show that the proposed tensegrity spine robot has potential application prospects in space debris capturing.
Institution: Sun Yat-sen University
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W3163054806