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Free-flying robots have the potential to autonomously fulfill a wide range of tasks involving manipulation of objects in space. In this paper we study the design of a wrist mechanism for free-flying robots that are equipped with an adhesive gripper for attaching to objects and surfaces. The wrist and gripper allow the robots to apply moments in addition to forces, which increases their versatility...
We explore the use of grippers with gecko-inspired adhesives for spacecraft docking and acquisition of tumbling objects in microgravity. Towards the goal of autonomous object manipulation in space, adhesive grippers mounted on planar free-floating platforms are shown to be tolerant of a broad range of incoming linear and angular velocities. Through modeling, simulations, and experiments, we characterize...
Perching on a vertical surface carries the risk of severe damage to the vehicle if the maneuver fails, especially if failure goes undetected. We present a detection method using an onboard 3-axis accelerometer to discriminate between perching success and failure. An analytical model was developed to calculate acceleration differences for success and failure and set decision times. Two distinct decision...
We present a robot capable of both (1) dynamically perching onto smooth, flat surfaces from a ballistic trajectory and (2) successfully transitioning to a climbing gait. Merging these two modes of movement is achieved via a mechanism utilizing an opposed grip with directional adhesives. Critical design considerations include (a) climbing mechanism weight constraints, (b) suitable body geometry for...
Perching allows Micro Aerial Vehicles (MAVs) avoid the power costs and electrical and acoustic noise of sustained flight, for long-term surveillance and reconnaissance applications. This paper presents a dynamic model that clarifies the requirements for repeatable perching on walls and ceilings using an opposed-grip mechanism and dry adhesive technology. The model predicts success for perching over...
Dynamic surface grasping is applicable to landing of micro air vehicles (MAVs) and to grappling objects in space. In both applications, the grasper must absorb the kinetic energy of a moving object and provide secure attachment to a surface using, for example, gecko-inspired directional adhesives. Functional principles of dynamic surface grasping are presented, and two prototype grasper designs are...
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