Testing Gecko-Inspired Adhesives With Astrobee Aboard the International Space Station Readying the Technology for Space

被引：12
|
作者：
Chen, Tony G. [1 ]
Cauligi, Abhishek [2 ]
Suresh, Srinivasan A. [1 ]
Pavone, Marco [2 ]
Cutkosky, Mark R. [1 ]
机构：
[1] Stanford Univ, Dept Mech Engn, Biomimet & Dexterous Manipulat Lab, Stanford, CA 94305 USA
[2] Stanford Univ, Dept Aeronaut & Astronaut, Autonomous Syst Lab, Stanford, CA 94305 USA
来源：
IEEE ROBOTICS & AUTOMATION MAGAZINE | 2022年 / 29卷 / 03期
基金：
欧洲研究理事会; 美国国家科学基金会;
关键词：
D O I：
10.1109/MRA.2022.3175597
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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. © 1994-2011 IEEE.
引用
收藏
页码：24 / 33
页数：10
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