Overview of Continuum Robot Structure for Space Debris Capture
The task of capturing small space debris requires space robots to capture targets with-out cooperative information.The continuum robot body can directly use large tolerance to realize highly reliable capturing task in the absence of accurate measurement information of the captured object.Aiming at meeting requirements of applying continuum robots in the field of small space debris capture,a detailed investigation and a comparative analysis on driving modes of continuum robots,as well as the trunk characteristics and joint characteristics of cable-driven continuum ro-bots,are conducted.Then key issues that need special attention in the structural design of cable-driven continuum robots are proposed.Finally,an outlook on the future development of continu-um robot structure technology for space capture tasks is given.
国家科技期刊平台
NSTL
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