Robotic systems and End-effectors for ISAM Operations: A Critical Review

摘要

With the complexity of In-space Servicing, Assembly, and Manufacturing (ISAM) operations as a part of Space 2.0, the need for effective and adaptable tools becomes crucial. Tools such as robotic end-effectors are especially critical for these operations, as they form the essential interface between robotic systems and parts and their environment. These tools are pivotal for performing tasks such as manipulation, assembly, and maintenance in intricate space conditions. Traditionally, end-effectors have been designed for specific functions, limiting their ability to adapt to diverse and evolving space missions' needs. This limitation can affect the overall performance of robotic systems. The authors present an analysis of such systems, especially for identifying critical design parameters and associated boundary conditions to make a case for multifunctional end-effectors. The paper concludes by detailing opportunities for future research and directions for multi-functional end-effector designs.