Special challenges of robotic gripping in space

Abstract

The special problems of robotic gripping in space are identified and enumerated. The mechanical and control aspects of this class of gripper are discussed briefly. It is found that the impact of zero- or microgravity necessitates rethinking of the underlying principles of grasping, manipulating and autochanging of end-effectors. The fundamental differences of this class of grippers from the familiar cases are the requirement for a positive grasp as opposed to frictional grasp, the requirement of a bearing surface on the fingers in place of friction pads, and the requirement for the integration of a screwdriver with the end-effector. The control problems are influenced greatly by the nonavailability of compliance from the object and fixtures.<>