Design and Analysis of an Origami-Inspired Modular Gripper for Non-Cooperative Target Space Capture

Abstract Aiming to capture the needs of non-cooperative targets in space missions, this research proposes a modular design scheme for a space capture gripper in combination with origami theory and carries out a corresponding capture performance analysis for the proposed gripper configuration. First, the finger unit module is formed by the configuration design of the Miura crease through origami theory. A variety of gripper configurations are formed through the hinge offset technique. The mobility of the selected gripper configurations is analyzed, and a single-degree-of-freedom finger drive implementation is proposed. Second, numerical analysis is carried out to investigate and validate the kinematic characteristics through a computer-aided design model. In order to evaluate the performance of the gripper, the mapping relationship between key design parameters and performance indicators such as envelope radius and envelope space is investigated. Considering the gripper's geometric constraints and performance indexes, its optimal capturing posture is analyzed. Finally, the correctness of the theoretical analysis is verified by the prototype model, and it is shown that the origami-inspired modular gripper has the advantages of simple structure, easy control, and high versatility. The gripper can be used to capture non-cooperative targets in space missions, which provides a certain reference for the application of origami theory in engineering.