Design of 100G capturing robot

This paper discusses the design of the 100G capturing robot that can produce the maximum acceleration of 100G in design specification. In order to achieve such a high acceleration, we utilize spring energy and a light arm/gripper system. We find the combination of the arm with the mass of 0.1 kg and the spring capable of producing the initial compressed force of 100 N, so that we can achieve the 100G. In order to reduce the total capturing time, we newly propose the arm/gripper coupling mechanism (AGCM) where the spring energy initially accumulated in the arm is transferred to the kinetic energy of the arm and continuously to the kinetic energy for closing the gripper at the capturing point without any time lag. We show both simulation and experimental results for confirming a high acceleration