Sorted by Date Sorted by Publication Type Sorted by Topic
In-Won Park, Trey Smith, Sze Wun Wong, Pedro Piacenza, and Matei Ciocarlie. In Proc. IEEE Int. Conf. Adv. Int. Mech. (AIM), 2017.
This paper presents the design and control of the 3-DOF compliant perching arm for the free-flying Astrobee robots that will operate inside the International Space Station (ISS). The robots are intended to serve as a flexible platform for future guest scientists to use for zero-gravity robotics research---thus, the arm is designed to support manipulation research. It provides a 1-DOF underactuated tendon-drive gripper capable of robustly grasping a variety of objects of different shapes and sizes. Co-located RGB camera and LIDAR sensors provide perception. The Astrobee robots will be capable of grasping each other in flight, to simulate orbital capture scenarios. The arm's end-effector module is swappable on-orbit, allowing guest scientists to add upgraded grippers, or even additional arm degrees of freedom. The design of the arm balances research capabilities with Astrobee's operational need to perch on ISS handrails to reduce power consumption. Basic arm functioning and grip strength were evaluated using an integrated Astrobee prototype riding on a low-friction air bearing.
@InProceedings{park17:aim_perching_arm,
author = {In-Won Park and Trey Smith and Sze Wun Wong and Pedro Piacenza and Matei Ciocarlie},
title = {Developing a 3-DOF Compliant Perching Arm for a Free-Flying Robot on the International Space Station},
booktitle = {Proc. IEEE Int. Conf. Adv. Int. Mech. (AIM)},
year = 2017,
}
Generated by bib2html.pl (written by Patrick Riley ). About this theme. Last modified: Fri Nov 03, 2023 16:16:31