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Utilizing Under-Actuated Linkages for Robotic Grasping of an Asteroid

Utilizing Under-Actuated Linkages for Robotic Grasping of an Asteroid. Asteroid Initiative Idea Synthesis Workshop November 21 , 2013. MDA On-Orbit Servicing Heritage. SARAH. S elf A daptive R obotic A uxiliary H and Developed by University Laval (patented)

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Utilizing Under-Actuated Linkages for Robotic Grasping of an Asteroid

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  1. Utilizing Under-Actuated Linkages for Robotic Grasping of an Asteroid Asteroid Initiative Idea Synthesis Workshop November 21, 2013

  2. MDA On-Orbit Servicing Heritage

  3. SARAH • Self Adaptive Robotic Auxiliary Hand • Developed by University Laval (patented) • MDA has a licence to develop technology for space applications

  4. Under-actuation • The term under-actuated means that its geometry is not entirely defined by the drive actuation • There is only one driven joint per 'finger' at the base • The nature of the four-bar linkages separated by stable triangles causes the 'finger' to conform to shape that impedes motion • The shape of the grasped object is required to make the final geometry determinate

  5. Under-Actuated Linkage Concept • Initial configuration held open by active and passive mechanisms • “fingers” ~ 10m (30 ft) in length • Final configuration of fingers defined by shape of object being grasped • Option for 3 to 5 fingers • Provides structure for EVA operations

  6. Advantages of Proposed Concept • Deterministic configuration where required • Kinematics permits compact stowed volume • Allows continuous visual surveying – rendezvous to capture to surface ops • Reduces risks of snagging, abrasion and uncontrolled motion • Mass in same category as high-strength capture bag

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