Capturing noncooperative targets in space has garnered continuous research interest in aerospace applications. This study addresses the demands of large-scale, multifaceted activities and varied working conditions for space capture missions by designing a space capture robot composed of multiple cable-driven manipulators operating in parallel. First, single- and multi-segment cable-driven robot models were designed, and a geometric model was subsequently built. The optimal number of segments was determined by analysing the condition number of a Jacobian matrix using the Monte Carlo method. Subsequently, based on the constant-curvature assumption, a kinematic model of the cable-driven space capture robot was formulated, and capture methods for different capture targets were designed using the Monte Carlo method. Finally, an eight-segment cable-driven robot prototype was developed, and compliance and driving experiments were conducted. This robot exhibits promising application potential for space noncooperative target capture and can be feasibly manufactured using on-orbit 3D machining technology.


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    Title :

    Design and workspace analysis of a cable-driven space capture robot for noncooperative targets


    Contributors:
    Liu, Ruiwei (author) / Fan, Yating (author) / Huang, Yantong (author) / Guo, Hongwei (author) / Zhao, Chong (author) / Su, Manjia (author)


    Publication date :

    2024-11-01




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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