Development of Deployable Gripper for Capturing Non-cooperative Space Debries

Abstract

In this paper, a three-finger metamorphic robotic gripper is proposed, where each finger is connected in series using the concept of modularity. Within the platform, all three fingers can be simultaneously extended or closed through a single motor drive, enabling enveloping grasping and adaptive grasping of non-cooperative objects in space. In future work, emphasis will be placed on designing underactuated fingers to enhance their adaptive grasping ability for more flexible manipulation.