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The significant features and functionality of the end-effector and its grapple fixture are described, including the key analysis efforts. The characteristics of the end-effector and their suitability for self-relocation and payload handling were confirmed by testing, which used two prototype end-effectors, a semi-physical simulation testbed system with two, six degrees of freedom (DOF) industrial robot arms, and an air-bearing testbed system with a seven DOF manipulator. The results demonstrate that the end-effector satisfies the requirements and it can work well in a simulated space environment. With the compliance motion of the manipulator, the end-effector can perform soft capture and the manipulator can securely self-relocate and handle the payload.<\/jats:p>","DOI":"10.1017\/s0263574715000302","type":"journal-article","created":{"date-parts":[[2015,7,3]],"date-time":"2015-07-03T14:58:06Z","timestamp":1435935486000},"page":"2689-2728","source":"Crossref","is-referenced-by-count":6,"title":["Design, testing and evaluation of an end-effector for self-relocation"],"prefix":"10.1017","volume":"34","author":[{"given":"Feng","family":"Han","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kui","family":"Sun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hong","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2015,7,3]]},"reference":[{"key":"S0263574715000302_ref18","unstructured":"B. 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