Performance Analysis of a Gripper for Microsatellite Berthing

Abstract

In this paper, the grasping operation of CubeSat microsatellites is analyzed with a topological study of grasping strategies as functions of CubeSat geometry. Grasping conditions and limitations are introduced for the square-profiled bodies of CubeSats of 1U and 12U sizes. A topology search defines fingertip forms and configurations to fulfill requirements, and operational limitations are presented in terms of geometry and dynamic parameters. The grasping performance is then analyzed in the side grasp and corner grasp cases and validated with a numerical case study.