A Deployable End-effector with Caging-Based Grasp Capability for Capturing Free-Floating Objects

In this paper, based on the caging grasp, a novel deployable end-effector for capturing free-floating objects is proposed, which implements a secure grasp without precise motion tracking and complex feedback control. Three subsystems for capture, transmission and actuation are highly integrated, including mechanics, electronics and sensors. Grippers composed of constant-torque hinges are arranged specifically to endow the mechanism with deployable function and ensure a steady envelope. Gears are widely adopted in a unique manner for synchronous motion of six grippers, with only one actuator. Meanwhile, an optimal design for a larger envelope with weight reduction of the grippers is carried out. The multisensory system and electronics in the actuation subsystem lay the foundation for operational procedure of the end-effector. Additionally, performance of the end-effector is verified in virtual simulation software.