{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,25]],"date-time":"2025-09-25T18:08:31Z","timestamp":1758823711349,"version":"3.40.5"},"reference-count":35,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2022,6,14]],"date-time":"2022-06-14T00:00:00Z","timestamp":1655164800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2022,10]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Multi-legged robots with rigid-flexible coupling grippers have appealing applications to asteroid exploration with the microgravity. However, these robots usually have significantly complicated structures, which leads to a great challenge for the kinematic design.This paper proposes the kinematic design method for a novel multi-legged robot with the microspine gripper. First, the structure of the multi-legged asteroid exploration robot and the microspine gripper are demonstrated. Second, four performance evaluation indices, which are used to evaluate the stiffness, velocity, motion \/ force transfer efficiency and gripper attachment efficiency of the robot, are derived from the kinematic model. Non-dimensional design spaces of parameters to be optimized are drawn, and performance atlases are presented in design spaces. Third, the stiffness model of the microspine is derived. In addition, the constraint condition of the restoring spring is established, and the stiffness of restoring springs are optimized using the genetic algorithm. Several experiments are conducted to verify the stiffness model of the microspine. Finally, the prototype is developed and the experimental results validates the kinematic design method.<\/jats:p>","DOI":"10.1017\/s0263574722000509","type":"journal-article","created":{"date-parts":[[2022,6,14]],"date-time":"2022-06-14T08:46:43Z","timestamp":1655196403000},"page":"3699-3725","source":"Crossref","is-referenced-by-count":1,"title":["Kinematic design of a novel Multi-legged robot with Rigid-flexible coupling grippers for asteroid exploration"],"prefix":"10.1017","volume":"40","author":[{"given":"Qingpeng","family":"Wen","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6765-1738","authenticated-orcid":false,"given":"Jun","family":"He","sequence":"additional","affiliation":[]},{"given":"Feng","family":"Gao","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2022,6,14]]},"reference":[{"key":"S0263574722000509_ref28","doi-asserted-by":"publisher","DOI":"10.2514\/6.2013-5409"},{"key":"S0263574722000509_ref6","doi-asserted-by":"publisher","DOI":"10.1126\/science.278.5344.1743"},{"key":"S0263574722000509_ref13","doi-asserted-by":"publisher","DOI":"10.1089\/ast.2019.2177"},{"key":"S0263574722000509_ref20","doi-asserted-by":"publisher","DOI":"10.1115\/1.4043023"},{"key":"S0263574722000509_ref15","unstructured":"[15] Yoshida, K. , Maruki, T. and Yano, H. , \u201cA novel strategy for asteroid exploration with a surface robot,\u201d In: The Second World Space Congress, vol. 34 (2022) pp. 1966\u20131971."},{"key":"S0263574722000509_ref29","doi-asserted-by":"publisher","DOI":"10.5772\/56469"},{"key":"S0263574722000509_ref30","doi-asserted-by":"publisher","DOI":"10.1016\/S0957-4158(03)00008-4"},{"key":"S0263574722000509_ref18","doi-asserted-by":"crossref","unstructured":"[18] Parness, A. , \u201cAnchoring Foot Mechanisms for Sampling and Mobility in Microgravity,\u201d In: 2011 IEEE International Conference on Robotics and Automation (ICRA), San Francisco, USA (2011).","DOI":"10.1109\/ICRA.2011.5980584"},{"key":"S0263574722000509_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.282135"},{"key":"S0263574722000509_ref9","doi-asserted-by":"crossref","first-page":"797","DOI":"10.2514\/1.A34157","volume":"55","author":"Stefaan","year":"2018","journal-title":"J. Spacecraft Rockets"},{"key":"S0263574722000509_ref12","doi-asserted-by":"publisher","DOI":"10.1186\/s10033-018-0259-9"},{"key":"S0263574722000509_ref35","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2010.05.001"},{"key":"S0263574722000509_ref10","doi-asserted-by":"publisher","DOI":"10.1051\/0004-6361\/201832779"},{"key":"S0263574722000509_ref31","doi-asserted-by":"publisher","DOI":"10.1186\/s10033-018-0263-0"},{"key":"S0263574722000509_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224692"},{"key":"S0263574722000509_ref19","doi-asserted-by":"publisher","DOI":"10.1117\/12.506157"},{"key":"S0263574722000509_ref17","doi-asserted-by":"publisher","DOI":"10.3390\/robotics9020026"},{"key":"S0263574722000509_ref5","doi-asserted-by":"publisher","DOI":"10.1080\/10095020.2020.1718002"},{"key":"S0263574722000509_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-5765(99)00158-7"},{"key":"S0263574722000509_ref23","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906072511"},{"key":"S0263574722000509_ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2623346"},{"key":"S0263574722000509_ref33","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2005.05.003"},{"key":"S0263574722000509_ref32","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4651045"},{"key":"S0263574722000509_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.actaastro.2005.12.009"},{"key":"S0263574722000509_ref1","doi-asserted-by":"publisher","DOI":"10.1038\/s41550-020-01221-y"},{"key":"S0263574722000509_ref27","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912442096"},{"key":"S0263574722000509_ref16","article-title":"A robotic device using gecko-inspired adhesives can grasp and manipulate large objects in microgravity","volume":"2","author":"Hao","year":"2017","journal-title":"Sci. Robot."},{"key":"S0263574722000509_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.actaastro.2008.01.028"},{"key":"S0263574722000509_ref2","doi-asserted-by":"publisher","DOI":"10.1046\/j.1365-8711.2000.03761.x"},{"key":"S0263574722000509_ref25","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917720019"},{"key":"S0263574722000509_ref4","doi-asserted-by":"publisher","DOI":"10.1126\/science.1125841"},{"key":"S0263574722000509_ref11","doi-asserted-by":"publisher","DOI":"10.1007\/s11214-016-0251-6"},{"key":"S0263574722000509_ref34","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2005.10.008"},{"key":"S0263574722000509_ref21","doi-asserted-by":"publisher","DOI":"10.1115\/1.40066591"},{"key":"S0263574722000509_ref24","doi-asserted-by":"crossref","unstructured":"[24] Parness, A. , Willig, A. , Berg, A. , Shekels, M. and Kennedy, B. , \u201cA Microspine Tool: Grabbing and Anchoring to Boulders on the Asteroid Redirect Mission,\u201d In: 2017 IEEE Aerospace Conference, Montana, USA (2017).","DOI":"10.1109\/AERO.2017.7943904"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574722000509","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,9,9]],"date-time":"2022-09-09T18:26:25Z","timestamp":1662747985000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574722000509\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,6,14]]},"references-count":35,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2022,10]]}},"alternative-id":["S0263574722000509"],"URL":"https:\/\/doi.org\/10.1017\/s0263574722000509","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2022,6,14]]}}}