Design of a SPDM-like robotic manipulator system for Space Station on orbit replaceable unit ground testing - an overview of the system architecture

Hwang, Joyce; Wu, Enhua; Bell, Arnold; Cordell, A.; Stokes, L. S.; Hankins, Steve

doi:10.1109/robot.1994.351309

Cited by 6 publications

(1 citation statement)

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“…As an important task execution terminal of space robots, space manipulator will be constantly developing to meet the growing range of future space missions [4,5] . There are many manipulators that is working or ever worked in the space, such as SSRMS [6] (Space Station Remote Manipulator System ) , JEMRMS [7] (The Japanese Experiment Module Remote Manipulator System)and the manipulator of DLR [8] . Although some of these space manipulator is modular designed, the assembling and replacement of the modular joint is still quite difficult, which bring the inconvenience when the joint need to be replaced.…”

Section: Introductionmentioning

confidence: 99%

Design and Research of a Novel Fast Connecting and Separating Modular Space Manipulator

Wang

Zhang

Wang

et al. 2015

AMM

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With the increasing complexity of the space mission, the ability of fast reconstruction of manipulator is more and more important. To solve the problem of space manipulator’s fast reconstruction, this paper designs a novel manipulator that contains mechatronics modular joints and a connecting mechanism. Compared to the traditional manipulator, the manipulator in this paper have the advantage of great convenience of assembling and replacement of the modular joint. In this paper, we analyze the relationship between tolerance ability and structural parameters and computed the tolerance ability after optimization of the connecting mechanism; Using the perturbation method, we conducted the simulation of analysis error. Results show that relationship between the end position error and the error of the modular joints is approximate linear, which providing a theory instruction for the design of manipulator.

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