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Aerospace
Special Issues
Space Mechanisms and Robots
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Space Mechanisms and Robots

A special issue of Aerospace (ISSN 2226-4310). This special issue belongs to the section "Astronautics & Space Science".

Deadline for manuscript submissions: 30 May 2025 | Viewed by 4973

Special Issue Editors

Dr. Yan Xu

E-Mail Website
Guest Editor
School of Aeronautics and Astronautics, Zhejiang University, Hangzhou, China
Interests: deployable structures; soft robots; origami; bi-stable structures
Prof. Dr. George Z. H. Zhu

E-Mail Website
Guest Editor
Department of Mechanical Engineering, York University, 4700 Keele Street, Toronto, ON M3J 1P3, Canada
Interests: dynamics and control of tethered spacecraft system and space robotics; electrodynamic tether propulsion and space debris removal; multi- functional materials; additive manufacturing in space; solid mechanics and finite element method
Special Issues, Collections and Topics in MDPI journals
Dr. M. Reza Emami

E-Mail Website
Guest Editor
Institute for Aerospace Studies, University of Toronto, Toronto, ON, Canada
Interests: space systems engineering; concurrent engineering; mechatronics; space manipulators; planetary rovers; space systems miniaturization; spacecraft formation flying; asteroid engineering; intelligent robot teams; reconfigurable manipulators, legged locomotion for exploratory rovers
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Space exploration is one of the most challenging and meaningful activities in human history. The use of space mechanisms is often imposed by large size structures required for space missions and the envelope constraints under the fairing of the launch vehicles. Space mechanisms are critical to the success of almost all space missions. Specific design challenges vary depending on the extra-large size of the mechanisms and harsh mission constraints. This Special Issue of Aerospace covers recent efforts in the material, design, simulation, manufacture, experimentation, and application of space mechanisms including solar arrays, deployable antennas, solar sails, sunshields, inflatable habitats, etc.

An additional topic of interest in this Special Issue is space robots, which will play an increasingly irreplaceable role in future space missions. These robotics are expected to undertake tasks such as inspecting, capturing, refueling, and repairing satellites, assembling and maintaining large space infrastructure, and removing orbital debris. Current technical challenges include: (1) identification and perception for noncooperative targets; (2) motion planning and optimization; (3) tactile feedback control; (4) multifunctional robots; (5) high-fidelity ground verification; (6) AI-enhanced robots or advanced robots; and (7) future robotic mission concept.

We invite authors to submit their research manuscripts on all topics related to space mechanisms and robots to accelerate the advancement of these field.

Dr. Yan Xu
Prof. Dr. George Z. H. Zhu
Dr. M. Reza Emami
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Aerospace is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • space mechanisms
  • space robots
  • deployable antennas
  • inflatable habitats
  • solar sails
  • motion planning
  • multifunctional robots
  • autonomous robots
  • tactile feedback control
  • trustworthy robots
  • artificial intelligence

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Further information on MDPI's Special Issue polices can be found here.

Published Papers (6 papers)

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Research

14 pages, 1613 KiB  
Article
The Effects of Speed on the Running Performance of a Small Two-Wheeled Lunar Rover
by Kimitaka Watanabe, Yamato Otani and Kazuto Tanaka
Aerospace 2025, 12(2), 115; https://doi.org/10.3390/aerospace12020115 - 31 Jan 2025
Viewed by 255
Abstract
Small wheeled lunar rovers tend to dig into surfaces via wheel rotation, causing them to slip and get stuck on regolith. Additionally, reducing power consumption remains a longstanding challenge. This study created a small two-wheeled rover and conducted tests at various wheel rotation [...] Read more.
Small wheeled lunar rovers tend to dig into surfaces via wheel rotation, causing them to slip and get stuck on regolith. Additionally, reducing power consumption remains a longstanding challenge. This study created a small two-wheeled rover and conducted tests at various wheel rotation speeds to assess the effects of rotation speed on its running performance. Through running tests and the measurement of reaction force, the influence of different wheel rotation speeds on running performance was clarified. Running at low rotation speeds prevented slipping and sinking. Additionally, the amount of sinkage was shown to converge to a certain level even at higher rotation speeds. These findings suggest that the maximum wheel rotation speed at which the rover avoids getting stuck allows the rover to achieve running with low-power consumption. Full article
(This article belongs to the Special Issue Space Mechanisms and Robots)
23 pages, 53362 KiB  
Article
Force–Position Coordinated Compliance Control in the Adhesion/Detachment Process of Space Climbing Robot
by Changtai Wen, Pengfei Zheng, Zhenhao Jing, Chongbin Guo and Chao Chen
Aerospace 2025, 12(1), 20; https://doi.org/10.3390/aerospace12010020 - 31 Dec 2024
Viewed by 571
Abstract
Adhesion-based space climbing robots, with their flexibility and multi-functional capabilities, are seen as a promising candidate for in-orbit maintenance. However, challenges such as uncertain adhesion establishment, unexpected detachment, and body motion unsteadiness in microgravity environments persist. To address these issues, this paper proposes [...] Read more.
Adhesion-based space climbing robots, with their flexibility and multi-functional capabilities, are seen as a promising candidate for in-orbit maintenance. However, challenges such as uncertain adhesion establishment, unexpected detachment, and body motion unsteadiness in microgravity environments persist. To address these issues, this paper proposes a coordinated force–position compliance control method that integrates novel adhesion establishment and rotational detachment strategies, integrated into the gait schedule for a space climbing robot. By monitoring the foot-end reaction forces in real time, the proposed method establishes adhesion without risking damaging the spacecraft exterior, and smooth detachment is achieved by rotating the foot joint instead of direct pulling. These strategies are dedicated to reducing unnecessary control actions and, accordingly, the required adhesion forces in all feet, reducing the possibility of unexpected detachment. Climbing experiments have been conducted in a suspension-based gravity compensation system to examine the merits of the proposed method. The experimental results demonstrate that the proposed rotational detaching method decreases the required pulling force by 65.5% compared to direct pulling, thus greatly reducing the disturbance introduced to the robot body and other supporting legs. When stepping on an obstacle, the compliant control method is shown to reduce unnecessarily aggressive control actions and result in a reduction in relevant normal and shear adhesion forces in the supporting legs by 44.8% and 35.1%, respectively, compared to a PID controller. Full article
(This article belongs to the Special Issue Space Mechanisms and Robots)
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20 pages, 18565 KiB  
Article
Accuracy Analysis of a Multi-Closed-Loop Truss Antenna with Clearance
by Di Wu, Jiang Zhao, Xiaofei Ma, Jinbao Chen and Chuanzhi Chen
Aerospace 2024, 11(12), 1014; https://doi.org/10.3390/aerospace11121014 - 10 Dec 2024
Viewed by 510
Abstract
Surface accuracy is one of the most crucial indicators for evaluating the performance of a large deployable antenna. It depends on the accuracy of the truss structure of the truss antenna. This paper presents a novel method for accurate analysis of a large [...] Read more.
Surface accuracy is one of the most crucial indicators for evaluating the performance of a large deployable antenna. It depends on the accuracy of the truss structure of the truss antenna. This paper presents a novel method for accurate analysis of a large deployable truss antenna with 3D joint clearances. The proposed method does not depend on the structure’s style, which is suitable for general multi-closed-loop structures. Firstly, the clearance model of the truss structure is established using a vector description. Then, an error transfer path analysis method is proposed for the multi-closed-loop structure. The distribution probability of the truss antenna’s surface accuracy is also obtained. The efficiency of the method is validated through a numerical example of a planar mechanism with a multi-closed loop. The proposed method is also applied to analyze the surface accuracy of the large deployable antenna with a parabolic cylindrical truss. Full article
(This article belongs to the Special Issue Space Mechanisms and Robots)
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11 pages, 1709 KiB  
Article
A Conceptual Design of Deployable Antenna Mechanisms
by Hyeongseok Kang, Bohyun Hwang, Sooyoung Kim, Hyeonseok Lee, Kyungrae Koo, Seonggun Joe and Byungkyu Kim
Aerospace 2024, 11(11), 938; https://doi.org/10.3390/aerospace11110938 - 12 Nov 2024
Viewed by 842
Abstract
Over the last decade, large-scale antennas have been developed to enhance precise blue force tracking and improve situational awareness. In general, such large-scale antennas, ranging from 1 to up to 10 m, need a specific mechanism that can reconfigure their shapes and morphologies, [...] Read more.
Over the last decade, large-scale antennas have been developed to enhance precise blue force tracking and improve situational awareness. In general, such large-scale antennas, ranging from 1 to up to 10 m, need a specific mechanism that can reconfigure their shapes and morphologies, resulting in stowing and deploying upon the given environment. In parallel, it must be noted that such deployable mechanisms should accommodate a large aperture diameter while ensuring they are lightweight, robust, and structurally rigid to avoid undesired deformations due to the deployment. With these in mind, this work presents a large frustum-shaped deployable antenna mechanism with a large aperture diameter of 7.5 m. The deployable mechanism is composed of hierarchical bayes the radial direction at 30° intervals. Twelve bayes in total identify the overall morphology of the deployable antenna, which features a dodecagon. Specifically, the bay is composed of three linkage structures: a six-bar linkage mechanism, a V-folding mechanism, and a single pantograph mechanism. As a result of static and dynamic simulations, it is identified that the mechanism achieves an area-to-mass ratio of 5.003 m2/kg and a safety factor of 323.8 upon deployment. Conclusively, this work demonstrates a strong potential of the deployable antenna mechanism, providing high rigidity and large aperture diameter while ensuring high stability in space environments. Full article
(This article belongs to the Special Issue Space Mechanisms and Robots)
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20 pages, 25073 KiB  
Article
Development of 6DOF Hardware-in-the-Loop Ground Testbed for Autonomous Robotic Space Debris Removal
by Ahmad Al Ali, Bahador Beigomi and Zheng H. Zhu
Aerospace 2024, 11(11), 877; https://doi.org/10.3390/aerospace11110877 - 25 Oct 2024
Viewed by 1035
Abstract
This paper presents the development of a hardware-in-the-loop ground testbed featuring active gravity compensation via software-in-the-loop integration, specially designed to support research in autonomous robotic removal of space debris. The testbed is designed to replicate six degrees of freedom (6DOF) motion maneuvering to [...] Read more.
This paper presents the development of a hardware-in-the-loop ground testbed featuring active gravity compensation via software-in-the-loop integration, specially designed to support research in autonomous robotic removal of space debris. The testbed is designed to replicate six degrees of freedom (6DOF) motion maneuvering to accurately simulate the dynamic behaviors of free-floating robotic manipulators and free-tumbling space debris under microgravity conditions. The testbed incorporates two industrial 6DOF robotic manipulators, a three-finger robotic gripper, and a suite of sensors, including cameras, force/torque sensors, and tactile tensors. Such a setup provides a robust platform for testing and validating technologies related to autonomous tracking, capture, and post-capture stabilization within the context of active space debris removal missions. Preliminary experimental results have demonstrated advancements in motion control, computer vision, and sensor fusion. This facility is positioned to become an essential resource for the development and validation of robotic manipulators in space, offering substantial improvements to the effectiveness and reliability of autonomous capture operations in space missions. Full article
(This article belongs to the Special Issue Space Mechanisms and Robots)
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22 pages, 9496 KiB  
Article
Reinforcement Learning-Based Pose Coordination Planning Capture Strategy for Space Non-Cooperative Targets
by Zhaotao Peng and Chen Wang
Aerospace 2024, 11(9), 706; https://doi.org/10.3390/aerospace11090706 - 29 Aug 2024
Viewed by 1197
Abstract
During the process of capturing non-cooperative targets in space, space robots have strict constraints on the position and orientation of the end-effector. Traditional methods typically focus only on the position control of the end-effector, making it difficult to simultaneously satisfy the precise requirements [...] Read more.
During the process of capturing non-cooperative targets in space, space robots have strict constraints on the position and orientation of the end-effector. Traditional methods typically focus only on the position control of the end-effector, making it difficult to simultaneously satisfy the precise requirements for both the capture position and posture, which can lead to failed or unstable grasping actions. To address this issue, this paper proposes a reinforcement learning-based capture strategy learning method combined with posture planning. First, the structural models and dynamic models of the capture mechanism are constructed. Then, an end-to-end decision control model based on the Optimistic Actor–Critic (OAC) algorithm and integrated with a capture posture planning module is designed. This allows the strategy learning process to reasonably plan the posture of the end-effector to adapt to the complex constraints of the target capture task. Finally, a simulation test environment is established on the Mujoco platform, and training and validation are conducted. The simulation results demonstrate that the model can effectively approach and capture multiple targets with different postures, verifying the effectiveness of the proposed method. Full article
(This article belongs to the Special Issue Space Mechanisms and Robots)
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