Cosmic Gripper-1: 3-Finger Gripper for Space Tasks *

In this paper, a multi-joint space gripper’s Engineering Model for unmanned base construction is proposed. While most current exploration robots are not equipped with grippers due to technical limitations and the nature of their tasks, advanced equipment, specifically multi-joint grippers, will be indispensable for space work. However, unique environmental factors, such as cosmic radiation and the absence of an atmosphere, pose critical challenges to conventional equipment reliant on electronic components. To address it, this research designs a structure that protects radiation-sensitive electronic components while developing a multi-joint gripper that inherits the superior operational performance of the KITECH Hand. The proposed gripper adopts a Modified Tendon-Driven Mechanism, combined with a Direct Joint-Motor system, placing the motors within a radiation-shielding aluminum shell while maintaining a high DoF. Additionally, it incorporates the metacarpophalangeal joint roll rotation mechanism from the KITECH Hand, offering a broader range of motion compared to the Abduction & Adduction type MCP joint, thereby enhancing operational versatility and manipulability. The gripper’s performance was validated through experiments based on specific scenarios, demonstrating its robust functionality in space environments and its ability to perform a wide range of tasks.