大質量宇宙デブリ捕獲用ロボットアームの研究

抄録

In recent years, the number of space debris in the earth orbit has been increasing, and it is expected to remove the space debris with a small removal satellite. When capturing space debris with a robotic arm equipped with an actuator with a high deceleration ratio, the arm may be damaged due to the forced displacement caused by the inertia of the large mass due to poor back-drivability. In this study, we propose to incorporate a torsional elastic mechanism in each joint in addition to impedance control to buffer high-frequency loads that cannot be handled by impedance control. A prototype of the elastic mechanism was designed and simulated.