An Adaptive Gripper for On-Orbit Grasping with Rapid Capture and Force Sensing Capabilities

End-effectors are becoming increasingly vital in orbital space missions, performing increasingly complex operational tasks. Current on-orbit missions primarily utilize net systems and rigid grippers as manipulators. However, the dynamic analysis of the net system is complicated, and its reliability is insufficient. Moreover, rigid grippers are not impact-resistant, which can lead to the target either rebounding or sustaining damage. This paper designs an adaptive gripper for rapid passive grasping. Adjusting the initial setup of the gripper by altering the cables allows for different degrees of trigger sensitivity to be achieved. The gripper presented in this paper integrates a bistable mechanism with a dual-mode actuation system, achieving performance metrics such as a 16.7ms activation time and a 5.42m/s capture speed. This combination of rapid passive and controllable active grasping demonstrates a novel and effective solution with significant potential for dynamic on-orbit service and debris removal missions.