Design And Development of a Robotic Arm for Space Debris Mitigation Using Electrostatic and Gecko-Inspired Gripping Technologies

Abstract

As space debris poses a growing threat to satellite operations, there is an urgent need for advanced robotic systems capable of effective debris capture in low Earth orbit. This paper presents the development and optimization of a robotic arm equipped with an electrostatic adhesion mechanism, designed specifically for microgravity environments. The primary objective is to engineer a versatile, lightweight robotic arm that can securely capture and hold various types of debris, including non-magnetic and composite materials. Key features include electrostatic adhesive pads for adaptable grip, a telescopic extension arm to increase reach with minimal mechanical complexity, and a retractable storage profile to streamline debris retrieval and handling. Through detailed calculations, we establish the required adhesive force to counter both inertial and gravitational forces acting on debris, ensuring secure capture even during minor satellite manoeuvres. An electrostatic charging system is designed to induce sufficient adhesive force, with calculations for charge requirements and pad dimensions optimized for secure adhesion. This paper details the design, force calculations, and component selection that make the robotic arm efficient, lightweight, and adaptable, contributing to safer, more effective space debris removal.