Research on a novel multiple cable-nets swing capture mechanism and its space gripper design

Abstract

Space capture is a key technology for deep space exploration, serving missions such as orbital debris removal and asteroid sampling. Target objects are typically non-cooperative and operate in environments devoid of gravity and fluid resistance, posing significant challenges to effective capture. Cables, known for their compliance and excellent mechanical properties, have been used in space capture tasks. However, few studies have achieved both reliable control and the use of cables as end-effectors. To address this gap, this paper proposes a novel mechanism—the multiple cable-nets swing capture mechanism (MCNS-CM)—which enables compliant capture of targets by synchronously swinging multiple intersecting cable-nets to narrow the capture space. MCNS-CM employs cables as the end-effector structure, offering low-impact, high-compliance, and self-adaptive contact behavior. The mathematical principles, kinematic and mechanical models of MCNS-CM are presented. Two proof-of-concept prototypes were fabricated, and a series of capture experiments were conducted, demonstrating the feasibility of MCNS-CM in space capture and related applications. This work provides new insights and a theoretical foundation for the advancement of future space capture technologies.