Development of a small-sized space manipulator.

摘要

Future space stations and space factories require many types of manipulators or robots for assembling and servicing in space, and especially demand small-sized manipulators for dexterous tasks. A 1-meter class articulated manipulator with space environment durability and lightweight has been developed. This paper presents the system design of the manipulator and development efforts of its components. The design of actuators and a hand, tribological investigation of mechanical elements in the vacuum environment, the control system with multi-microprocessor and the dynamic control algorithm of the arm are described.