宇宙用磁気吸着式エンドエフェクタの基礎検討と試作

抄録

In the future space development, large flexible structures such as SSPS (Space Solar Power System) are expected and robots are expected to construct or inspect the structures by using end-effectors. However, existing main practical space end-effector such as Latching End Effector (LEE) and PDGF is so large, complex and poor storability that it is unsuitable for that purpose. This paper proposes a new type of end-effector using magnetic attraction for space use featuring simple structure, high attraction, very low residual magnetization. And prototype were made and tested, so this paper report the proposed mechanism and measured attraction of the new magnetic attraction end-effector.