柔軟機構を有する宇宙デブリ捕獲用ロボットアームの衝撃緩衝の研究

抄録

In recent years, an increase in space debris on orbits around the Earth is a problem for safe and reliable utilization of space activities, and removal of space debris is required. In this paper we assume capture of large space debris by robot arm. Since attitude control is not working, most space debris is rotating. For this reason in capture of the space debris, there is a complicated dynamic interaction between the capture target and the robot arm, and there is a possibility that big load may occur to the robot arm. As a buffering method of big load generated at the time of capturing space debris, we proposed a buffering method using impedance control and a flexible mechanism with physical softness, and confirmed the effectiveness by simulation. We also designed and manufactured a full-size prototype of robot arm. We made a simulation model in one joint and compared with prototype.