Research on the design and operation of end effectors for capturing space structures with truss structures

Capture and gripping technology for non-cooperative targets in space is essential for future Orbital-services, such as space debris removal. Non-cooperative targets are not dedicated capture target, so we focus on the truss structure that almost large space structures equipped. We have developed a low contact force hand (LCFH) that can capture the truss structure reliably and safely. LCFH is a simple and easy-to-operate mechanism because it can realize three operations of contact detection operation, gripping operation, and standby state return operation with one motor and one tension spring. In this paper, describing the design requirements of End Effector, the design and operation experiments of the mechanism and the impedance control of the free-flying robot for operating this mechanism will be described.