Rock Gripper for Sampling, Mobility, Anchoring, and Manipulation

摘要

A new gnpper mechanism can be used as an end effector for a long arm that reaches out from a nearby spacecraft for a touch-and-go type of mission. The gripper would stabilize the arm and allow samples to be collected and in situ science to be done from a fixed platform. In the long term, this style of gripper could even be used as handholds for astronauts trying to move about onear small asteroids. The prototype developed has demonstrated a 120 N gripping force, and improvements continue to be made. The gripping mechanism is useful not only for low-gravity bodies, but for steep surfaces on Mars and the Moon.