Lightweight Robot Arm for Capturing Large Space Debris

摘要

Effective measures to mitigate space debris are urgently required. Active removal of space debris presents the most effective measures. This study examines a micro robotic satellite with a simple robot arm for active space debris removal. In this study, the details of a proposed active space debris removal system with a robot arm are proposed. The robot arm has flexible joints and a control method to capture the target. The results of feasibility studies, the performance assumed at each step, the prototyping of the capturing robot arm with flexible joints and with a new end-effecter, and their experiment result are presented.