宇宙利用を目的とした MR 流体と永電磁石を用いたなじみグリッパの検証

抄録

Recently, the development in space is being progressed actively. Grasping is one of the fundamental actions in various space activities, such as an inspection of International Space Station (ISS), a docking of transfer vehicle to the ISS, a collection of samples of a planet and a removing space debris. However, grasping systems existing now on ground or even in space require complex control. Therefore, this study proposes a universal gripper using magneto-rheological fluid (MR fluid) and electro permanent magnet. Combining the MR fluid and electro permanent magnet, the proposed gripper can safely hold an object without using additional energy. This paper describes an examination of the universal gripper for space usage.