1 / 6

Utilizing Under-Actuated Linkages for Robotic Grasping of an Asteroid

Utilizing Under-Actuated Linkages for Robotic Grasping of an Asteroid. Asteroid Initiative Idea Synthesis Workshop November 21 , 2013. MDA On-Orbit Servicing Heritage. SARAH. S elf A daptive R obotic A uxiliary H and Developed by University Laval (patented)

katina
Download Presentation

Utilizing Under-Actuated Linkages for Robotic Grasping of an Asteroid

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Utilizing Under-Actuated Linkages for Robotic Grasping of an Asteroid Asteroid Initiative Idea Synthesis Workshop November 21, 2013

  2. MDA On-Orbit Servicing Heritage

  3. SARAH • Self Adaptive Robotic Auxiliary Hand • Developed by University Laval (patented) • MDA has a licence to develop technology for space applications

  4. Under-actuation • The term under-actuated means that its geometry is not entirely defined by the drive actuation • There is only one driven joint per 'finger' at the base • The nature of the four-bar linkages separated by stable triangles causes the 'finger' to conform to shape that impedes motion • The shape of the grasped object is required to make the final geometry determinate

  5. Under-Actuated Linkage Concept • Initial configuration held open by active and passive mechanisms • “fingers” ~ 10m (30 ft) in length • Final configuration of fingers defined by shape of object being grasped • Option for 3 to 5 fingers • Provides structure for EVA operations

  6. Advantages of Proposed Concept • Deterministic configuration where required • Kinematics permits compact stowed volume • Allows continuous visual surveying – rendezvous to capture to surface ops • Reduces risks of snagging, abrasion and uncontrolled motion • Mass in same category as high-strength capture bag

More Related