A Flytrap-Inspired Bistable Origami-Based Gripper for Rapid Active Debris Removal

Abstract

Space debris is considered an increasingly serious threat to on-orbit spacecrafts. There are several potential solutions to this problem, including active debris removal. Flexible robots have shown promising adaptability and dexterity in soft manipulation owing to their inherent compliance. This compliance allows them to interact safely and efficiently during space missions such as active debris removal. Herein, inspired by the bistable structure and energy-release mechanism of the Venus flytrap, a bistable origami-based gripper is developed. The flexible gripper, which can rapidly achieve stable state switching, is in the form of a biomimetic flytrap leaf curvature and is actuated using a shape memory alloy actuator. Subsequently, a flytrap bristle-like locking structure is used to ensure locking via the action of a dielectric elastomer actuator to alleviate the vibration instability of the flexible robot under rapid actuation. The experimental results showed that the flexible gripper can achieve effective capture within approximately 300 ms. In addition, it exhibits good adaptability and mechanical robustness with targets having complex shapes and sizes, indicating its potential applications in the space capture and sampling fields.