用于空间维修、装配和制造（ISAM）的仿生多功能末端执行器

IF 3.2 3区工程技术 Q2 ENGINEERING, INDUSTRIAL

Cirp Annals-Manufacturing Technology Pub Date : 2025-01-01 DOI:10.1016/j.cirp.2025.04.001

Salil Bapat , Tanvi Arey , John Vickers , Ajay P. Malshe (1)

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引用次数: 0

摘要

本文介绍了螃蟹启发设计的应用，以开发一个多功能机器人末端执行器，用于空间维修，装配和制造（ISAM）。实验证明，螃蟹轮毂和爪形设计，当使用碳纤维复合材料3D打印时，可以承受空间环境中发射和再入以及从空间到地球在容器和真空中的剧烈振动。对该设计的测试证明了末端执行器在空间条件测试前后的多功能性，包括拾取和放置，扭转和转弯以及推拉。这项研究展示了新型生物启发原理在设计和开发新的商业ISAM基础设施产品方面的潜力。

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Bio-inspired multifunctional end effectors for in-space servicing, assembly and manufacturing (ISAM)

This paper presents the application of crab-inspired design to develop a multifunctional robotic end effector for in-space servicing, assembly, and manufacturing (ISAM). It is demonstrated that crab hub and claw-inspired design, when 3D printed using carbon fiber composite, withstand space environments for severe vibration during launch and re-entry in and from space to earth in a vessel and vacuum. Testing this design demonstrated the end effector's versatility for tasks, including pick-and-place, twist-and-turn, and push-and-pull before and after the testing for space conditions. This study demonstrates the potential of novel bio-inspired principles to design and develop products for new commercial ISAM infrastructure.

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来源期刊

Cirp Annals-Manufacturing Technology 工程技术-工程：工业

CiteScore

7.50

自引率

9.80%

发文量

137

审稿时长

13.5 months

期刊介绍： CIRP, The International Academy for Production Engineering, was founded in 1951 to promote, by scientific research, the development of all aspects of manufacturing technology covering the optimization, control and management of processes, machines and systems. This biannual ISI cited journal contains approximately 140 refereed technical and keynote papers. Subject areas covered include: Assembly, Cutting, Design, Electro-Physical and Chemical Processes, Forming, Abrasive processes, Surfaces, Machines, Production Systems and Organizations, Precision Engineering and Metrology, Life-Cycle Engineering, Microsystems Technology (MST), Nanotechnology.