コンベックスばね型宇宙機捕獲機構の機能向上法に関する研究

抄録

The number of space debris in orbit is increasing. In order to suppress the increase of debris, Active Debris Removal (ADR) is necessary, and it is necessary to develop a capture technology for non-cooperative targets. A debris capture mechanism using a convex spring has been proposed, but improvement of the motion control of the mechanism is an issue. The author proposes attaching weights to the convex springs to improve the capturing motion. First, the bending propagation characteristics of a convex spring with a weight attached are clarified, and a mechanical model is derived. Next, the consistency of the mechanical model was confirmed by conducting experiments to measure the motion of a convex spring. Furthermore, the effectiveness of the weighted convex spring in debris capture was confirmed by conducting capture experiments on a fixed target. Finally, a control method of the weighted convex and a further improvement of the function by attaching the exoskeleton to the convex are proposed.