Development and evaluation of a space robot prototype equipped with a cable-driven manipulator

Abstract

This research focuses on developing and evaluating a free-flying space robot equipped with a cable-driven manipulator and an adaptive gripper. First, a transmission joint comprising a pair of gears and pulleys is designed and actuated by motors located in the first link of the manipulator. Afterward, based on the kinematics and dynamics models of the robot, a mission distribution control scheme is proposed for the robot to drive its end-effector to achieve the desired position and attitude for capturing space targets. Furthermore, exploiting this strategy, considerable comparison simulations between two space robots equipped with a traditional manipulator and a cable-driven arm are conducted. Wherein, the goal position and attitude are selected through a uniform sampling method. For the same capture mission, energy consumptions of the base and manipulator as well as state errors of the base are taken as cost functions for performance evaluation. Finally, a planar target capture case study using the adaptive gripper and a spatial motion test with the help of an air-bearing simulator are carried out to demonstrate the efficiency of the presented cable-driven space robot.