Concept of the Ring Enclosing Docking System for Spherical Shaped Free-Flying Robot

抄録

This paper presents the concept of the Ring Enclosing Docking System for Spherical Shaped Free-flying Robot. This docking system captures the robot with caging-based capturing and form closure technology. A tendon actuation mechanism with an elastic element is selected to realize light-weighted, faster actuation and contact force reduction. The validity of the proposed docking system’s acceptable range for capturing and the method of contact force reduction are experimentally evaluated.