Work

Stochastic Models and Control of Anchoring Mechanisms for Grasping in Microgravity

Year: 2022

Type: article

Abstract: Robots equipped with anchoring mechanisms have attractive applications in asteroid exploration. However, complex application scenarios bring great challenges to the modeling and control of anchoring mechanisms. This paper presents a grasping model and control method for an anchoring mechanism for asteroid exploration. First, the structure of the anchoring mechanism is demonstrated. Second, stochastic grasping models based on surface properties are established. The effectiveness of the grasping model is verified by experiments. A stiffness-modeling method of the microspine is proposed. On this basis, the stochastic grasping model of the anchoring mechanism is established, and the grasping cloud diagram of the anchoring mechanism is drawn. Third, in order to reduce the collision force between the anchor mechanism and the asteroid surface, a control method for the anchoring mechanism in the movement process is proposed based on the motion mode of the asteroid-exploration robot. Finally, a prototype is developed, and the experimental results validate the motion ability of the robot and the control method.

Source: Applied Sciences

DOI: 10.3390/app12063196

Authors: Qingpeng Wen, Jun He, Feng Gao

Institutions: Shanghai Jiao Tong University, State Key Laboratory of Mechanical System and Vibration

Language: English

Topic: Space Satellite Systems and Control

Subfield: Aerospace Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,408

Funders: National Natural Science Foundation of China, State Key Laboratory of Mechanical System and Vibration