Reconfigurable robot based on modular joint concept

0IntroductionWiththe rapid progress of the modern science andtechnology,the acquirement and usage of resources willbe extendedtothe spacefromthe earth.But many activi-ties can not be completed without space robots,such asthe construction and maintenance of the InternationalSpace Station(ISS),the release and retrieve of the satel-lite1,2].Since space robot has been brought forward,upto date,the Canadarm2(SSRMS)is the only real-work-ingrobot manipulator3].ETS-VII is the worldfirst satel…

Reconfigurable robot based on modular joint concept

A reconfigurable modular robot was developed for a free-flying robot project. This robot was composed of 6 same modular joints and one gripper. In order to save space and cost for transporting it into the space, the robot should be folded overall and locked. A big central hole in the modular joint was designed for the placement of the cables and plugs in the robot arm, which prevented them from damage of high temperature, radiation in the space environment and the motion of the robot. Multiple sensors were integrated into the fully modular joint, such as joint torque sensor, joint position sensor and temperature sensors, which made the joint more intelligent. A zero gravity experimental system was developed to verify the functions of the robot under zero gravity environment.