Systems and methods for gravity-independent gripping and drilling

摘要

Systems and methods for gravity independent gripping and drilling are described. The gripping device can also comprise a drill or sampling devices for drilling and/or sampling in microgravity environments, or on vertical or inverted surfaces in environments where gravity is present. A robotic system can be connected with the gripping and drilling devices via an ankle interface adapted to distribute the forces realized from the robotic system.

主权项

1. A gripping device comprising:
a center housing; an array of hooks circumferentially distributed around the center housing, the array of hooks adapted to grip a surface on which the array of hooks rest; one or more actuators connected with the center housing and the array of hooks, the one or more actuators operative to cause the array of hooks to grip or release the surface; and an array of microspine assemblies, each microspine assembly comprising a plurality of microspine toes layered adjacent to each other within a same microspine assembly, one or more hooks of the array of hooks being embedded in each microspine toe.