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This paper aims to solve the problem of uncertain position and attitude between unstructured terrain robot and grasped target and insufficient control accuracy in extreme environment, a grasping mechanism based on attraction domain relationship is proposed, which can realize autonomous positioning, capturing and grasping of robot under low control accuracy.

The grasping mechanism was designed, taking inspiration from fishing behavior this mechanism introduces attraction domains and flexible-elastic structures through the active and passive ends to achieve automatic positioning and capture. After the capture is completed, the grasping mechanism connects the active end and the passive end, simultaneously relying on the gravity of the target object to achieve locking and release between the robot and the target object. This paper adopts theoretical, simulation and experimental verification methods to conduct theoretical and simulation analysis on the autonomous positioning and grasping process of the mechanism, and produces grasping experimental prototypes with different positions and postures.

The experiment shows that the gripping mechanism designed in this paper can achieve automatic positioning capture and gripping of large deviation situations under low control accuracy, with a displacement deviation of up to 10 mm (about 1/6 diameter of the end of the mechanism) and an angle deviation of up to 3°. The scientific research task in the extremely high altitude environment has finally been successfully accomplished.

Inspired by fishing behavior, this paper proposes a positioning, capturing and grasping mechanism. The attraction area built with permanent magnets, coupled with the flexible connection, enables precise capture under low control, while the grasping mechanism can also rely on gravity to self-lock and release.

To answer the questions: what roles windows of opportunity act in the catchup process of latecomers, what strategies latecomer enterprises should adopt to size windows of opportunity to catch-up with incumbents even going beyond?

This paper studies the catch-up history of the Chinese mobile phone industry and proposes a sectoral innovation system under scenario of technology paradigm shifts. Then a history-friendly simulation model and counterfactual analysis are conducted to learn how different windows of opportunity and catch-up strategies influence the catch-up performance of latecomers.

Results show latecomers can catch up with technology ability by utilizing technology window and path-creating strategy. However, catching up with the market is not guaranteed. Demand window can help latecomers to catch up with market as it increases their survival rates, different sized windows benefit different strategies. However, it also enlarges incumbents' scale effect. Without technology window technology catch up is not guaranteed. Two windows have combination effects. Demand window affects the “degree” of change in survival rates, while the technology window affects the “speed” of change. Demand window provides security; technology window provides the possibility of a breakthrough for technology ability.

The findings of this paper provide theoretical guidance for latecomer enterprises to choose appropriate catch-up strategies to seize different opportunity windows.

This paper emphasizes the abrupt change of industrial innovation system caused by technology paradigm shifts, which makes up for the shortcomings of previous researches on industrial innovation system which either studied the influence of static factors or based on the influence of continuous changes.