Design and Operation of a Gripper for a Berthing Task

The idea of an extension life for CubeSats is proposed to reduce space debris in a low-earth orbit. In this work, gripper designed geometry-based grasping berthing tasks. operation outlined square- and rectangle-shaped CubeSats. Equilibrium conditions are formulated design the fingertips’ shape parameters CubeSat bodies. A scheme provide required accuracy. concept developed into lab prototype by using low-cost 3D printing manufacturing, mock-up task that representative evaluated with prototype. Center-mass hanging setup grasped body used evaluate impact grasping, partially replicating reducing effect gravity on system.