Momentum-Neutral Grasp Simulator

Grasp Attempt

STANDBY

Velocity-matching quality 80%

Grip closure symmetry 80%

Attempts

Captured

Success rate

–

Residual tumble

–

Tally by setting tier

How it works

In microgravity a free-floating object has no friction or weight to hold it still. Any contact imparts an impulse, and any impulse whose line of action misses the object's centre of mass also imparts torque. The gripper must first null its velocity relative to the tumbling object — matching its linear drift and spin — before closing, and the two fingers must close in mirror-symmetric fashion so their contact forces cancel rather than push the object sideways.

J = m·Δv          (impulse from residual velocity mismatch)
τ = r × F          (torque from an off-centre / asymmetric grip)
capture requires |Δv|→0 and |τ|→0 before contact

Velocity-matching quality — how closely the arm nulls relative drift and spin before contact; low quality leaves a velocity mismatch that becomes an unwanted impulse the instant the fingers touch the object.
Grip closure symmetry — how evenly the two fingers close; an asymmetric closure contacts one side first, applying an off-centre force that torques the object away even with perfect velocity matching.
Run repeated attempts with randomized tumble to build a success-rate tally across the quality × symmetry combinations you try.

Gripper Free-floating object Captured Escaped

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