Abstract
Gecko-inspired adhesives can allow free-flying space robots to grasp and manipulate large items or anchor themselves on smooth surfaces. In this article, we report on the first tests conducted using gecko-inspired adhesives on a gripper attached to an Astrobee free-flying robot operating inside the International Space Station (ISS). We present results from on-ground testing as well as two on-orbit sessions conducted during early 2021. Recorded data demonstrated that an adhesive gripper for Astrobee could provide 3.15 N of force for manual perching. The adhesives functioned as anticipated, despite a lengthy storage period. The results also highlighted some considerations for future adhesive gripping in space with free-flying robots. We discuss these topics along with system design considerations for successful implementation aboard the ISS, raising the readiness of this technology for a space-grade environment.
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