After the stabilization it provides the function of grapple fixtures and optical markers. The TAKO-Gripper comprises multiple articulated fingers driven by a fewer number of actuators. It makes adaptive envelope grasp to an object with arbitrary shape and tumbling motion. In this proposal, the TAKO-Gripper is designed driven by gas pressure. Instead of massive motors and complex wire-pulley mechanisms, the finger system makes bending motion by pneumatic bellows.
Gas pressure is also available for the air cushions inside the fingers to hold the target softly.
Once holding the target, the TAKO-Flyer achieves the attitude stabilization, to provide a cooperative functionality such as grapple fixtures and optical markers for the robotic capture by the mother ship. Two possible mission scenarios are studied. The scenario 2 is the mission to de-orbit malfunctioning Iridium satellites.