A bio-inspired compliant claw for arboreal locomotion in microgravity environments

摘要

Moving in micro-gravity environments presents a challenge for any robot designed to work on any small object in space, be it a minor planetary body or a manmade spacecraft. A novel solution to this is to use robotic arms to swing around the object's surface allowing the robot to move freely while still being safely anchored. This paper investigates a compliant design for a robotic claw designed to securely grasp an uneven rocky surface which can be used for this method of locomotion. Both materials and hardware design are tested to find out how they affect the grip on flat and curved uneven surfaces. The final design is also evaluated and presented to show its effectiveness in providing a secure grip on rocky surfaces.