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Configuration-based caging manipulation design for a cable-driven flexible arm with multi self-lockable links

Published online by Cambridge University Press:  11 July 2025

Yufan Zhou Open the ORCID record for Yufan Zhou [Opens in a new window] ,
Zhongliang Jing ,
Jianzhe Huang ,
Xiangming Dun ,
Yinshuai Sun  and
Kai Jiang
Yufan Zhou
Affiliation:
School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China
Zhongliang Jing*
Affiliation:
School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China
Jianzhe Huang
Affiliation:
School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China
Xiangming Dun
Affiliation:
School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China
Yinshuai Sun
Affiliation:
School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China
Kai Jiang
Affiliation:
School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China
*
Corresponding author: Zhongliang Jing; Email: zljing@sjtu.edu.cn
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Abstract

In recent years, the removal of orbital debris has become an increasingly urgent task due to advancements in human space exploration. Capturing space debris through caging manipulation offers notable advantages in terms of robustness and controllability. This paper proposes a configuration-based caging manipulation design method for a cable-driven flexible arm. First, the cable-driven flexible arm with multi self-lockable links is introduced. To quantify the caging configurations formed by different self-lockable link selections, a novel planar caging quality metric is then presented for arbitrary planar objects. Using this metric, a caging design method is developed for the flexible arm to conduct caging manipulations. Finally, the caging manipulation strategies are discussed with lock selection maps for different objects, and a robust caging strategy considering uncertainty is further explored. Simulation and experimental results validate the effectiveness of the proposed caging design method and demonstrate better performance compared to conventional caging methods.

Keywords

caging manipulationcaging graspmanipulation planning

Information

Type
Research Article
Information
Robotica , First View , pp. 1 - 17
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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