Abstract of the Offer
Ross Innovation Ltd. (UK) offers a 3D Adaptive robotic gripper enabling secure, non-destructive grasp of satellite structures, handles, or irregular geometries. The design passively conforms to unknown shapes, allowing anchoring, retrieval, or servicing without complex sensing. The company seeks collaboration or licensing partners to adapt the gripper for space-qualified use.
Description
The 3D Adaptive Gripper is a versatile, passive-adaptive end-effector designed to conform to objects of varying size, geometry, texture, and rigidity. Originally developed for nuclear decommissioning, where safety, robustness, and adaptability are critical, it requires minimal sensing or high-level control to function effectively—qualities well suited to space-based environments.
The gripper comprises a nested set of frusto-spherical components, forming a fractal-like structure. Each of the primary contact modules can tilt independently in two axes, allowing coarse adaptation to the target object. Mounted on these are smaller, secondary grip surfaces—also independently tiltable—providing fine-scale local conformity. This arrangement ensures that every contact point contributes to the grip without mechanical redundancy, facilitating reliable engagement with both regular and irregular surfaces.
The technology can be realised in multiple configurations. In its passive-adaptive form, it uses a standard actuation system to achieve conformity through mechanical compliance. An advanced version—currently at concept stage—adds dual independent actuators for off-centre gripping. This reduces transmitted reaction forces to the supporting system, making it especially useful in microgravity scenarios such as satellite capture or docking.
An optional feature is a pair of positively biased scoops mounted at the distal ends of the gripper fingers. These enable two grip modes: a pinch grip to retrieve flat or thin objects from planar surfaces (e.g., a saw blade from a floor), and a clench grip for bulkier or deformable items. The scoops draw objects into the adaptive zone, where the primary grip surfaces close to secure them.
Potential applications in space include:
- Capture and manipulation of uncooperative objects or debris
- Satellite servicing, including repositioning and docking
- Tool use or object handling by astronauts (e.g., collecting samples or fasteners)
- Anchoring or mechanical interface mechanisms for modular spacecraft components
The gripper’s passive-adaptive behaviour, tolerance to off-axis contacts, and simplicity of control make it an attractive option for integration into robotic arms or assistive astronaut tools where reliability and minimal control burden are paramount.
Advantages and Innovations
The 3D Adaptive Gripper is conceived around a fractal, multi-scale architecture that provides passive mechanical conformity across both coarse and fine scales:
- Fractal contact geometry: The gripper comprises a nested set of frusto-spherical contact elements. Each primary module tilts independently in two axes to adapt to broad object geometries. Mounted on these are secondary grip surfaces, also independently tiltable in two axes, enabling fine-scale adaptation. This approach ensures that every contact point contributes uniquely to the grip — avoiding mechanical redundancy and enabling reliable engagement with regular or irregular surfaces.
- No complex control is required: The gripper operates according to underactuated, passive-adaptive principles, requiring no supplementary sensing, high-level coordination or closed-loop control. It simply conforms to the object as a result of its geometry and mechanics. This simplicity is critical in high-risk environments such as nuclear decommissioning or space operations, where lower system complexity translates directly to higher reliability and maintainability.
- Soft robotics behaviour in a hard robotics frame: Functionally, the gripper behaves like a soft gripper — highly conformable, tolerant of variation and robust to misalignment — yet is constructed with rigid-link mechanisms. This approach enables it to withstand elevated closure forces, operate in hostile environments and avoid puncture or contamination issues that would compromise soft robotic systems.
- Dual actuation options: The gripper can be configured for symmetrical closure with a single actuator, or off-centre gripping using dual actuators. Off-centre actuation reduces reactive forces transmitted to the host robot or to the object being manipulated — particularly useful in microgravity capture, delicate equipment handling, or precision assembly.
- Curved-path closing mechanism: A double-guide linkage converts linear actuator motion into a curved trajectory, increasing the available stroke without increasing overall size and mass. This mechanism enables the gripper to enfold larger objects from a compact starting profile and is already validated in nuclear field applications.
- Multi-format and tool-substitution capability: The gripper has been implemented in miniaturised and large-span variants. Its “bear-paw” layout enables versatile engagement, eliminating the need for frequent tool changes — a major advantage in operations where tool exchanges are time-consuming or hazardous.
- Material adaptability: The mechanical architecture has been tested and proven in engineering-grade polymers and composites (e.g. CFPA), retaining performance and strength while reducing weight — a necessity for field testing and directly applicable to aerospace or orbital use.
- Sensor integration ready: Optional haptic feedback (e.g. contact confirmation, grip force estimation) can be integrated if needed, enabling an additional control layer without being essential for baseline function.