Research on adaptive capture characteristics of underdriven envelope-type origami hand claw

Abstract To address the challenges associated with capturing non-cooperative targets in space debris removal missions, this study proposes multi-degree-of-freedom, asymmetric, and self-adaptive origami-based hand claws. The origami hand claw is designed with programmable features, and its kinematic equations are derived for three distinct contact states, namely, first-level folding plate contact, second-level folding plate contact, and third-level folding plate contact. These equations are established based on the contact conditions during the capture process. Furthermore, a kinematic model of the origami mechanism is developed to analyze the motion characteristics of the hand claw in an asymmetric folding state, derive the motion relationship equations between adjacent drives, and determine the range of motion between them. To enhance adaptability, this study proposes an adaptive capture strategy wherein the origami hand claw, assisted by a bottom-mounted camera, adjusts the pitch angle of its drive mechanism according to the target's shape and orientation, thereby optimizing the capture operation. To validate the proposed approach, simulation software was utilized to replicate the capture process of space debris within a microgravity environment. The simulation results demonstrated that the origami hand claw effectively captures space debris through an adaptive envelopment based on the adaptive capture theory.