Structural Designs of Novel Deployable Polyhedral Grippers for Noncontact Capturing Missions

Abstract Deployable polyhedral grippers have attracted increasing attention for their priority in noncontact capturing missions. Enrichment of these grippers may benefit the conduction of various capturing tasks. In this paper, novel deployable polyhedral grippers are designed. A design flow is proposed for the structural designs of diverse grippers. The core problem during the construction is reducible to the structural designs and combination of multiple synchronously deployable modules. Each module, containing three faces connected by two revolute joints, can realize one-degree-of-freedom deployment. Type synthesis of synchronously deployable modules adopting different layouts of revolute joints is conducted. The mobility and kinematics of these modules are analyzed to verify the achieved motion. As examples, four deployable polyhedral grippers based on different polyhedrons and deployment diagrams are presented. The deployment performance of the prototype proves the validity of the proposed design method, and exhibits the potential of these deployable polyhedral grippers for diverse capturing missions.