Bio-inspired multifunctional end effectors for in-space servicing, assembly and manufacturing (ISAM)

摘要

This paper presents the application of crab-inspired design to develop a multifunctional robotic end effector for in-space servicing, assembly, and manufacturing (ISAM). It is demonstrated that crab hub and claw-inspired design, when 3D printed using carbon fiber composite, withstand space environments for severe vibration during launch and re-entry in and from space to earth in a vessel and vacuum. Testing this design demonstrated the end effector's versatility for tasks, including pick-and-place, twist-and-turn, and push-and-pull before and after the testing for space conditions. This study demonstrates the potential of novel bio-inspired principles to design and develop products for new commercial ISAM infrastructure.