Development of reconfigurable space robot arm

This paper presents a reconfigurable modular space robot arm including reconfigurable modular mechanics, electronics, and control software. This robot was composed of six same modular joints and one gripper. A configuration similar to PUMA robot was adopted, which made it possible to fold the robot a compact shape, and save space and cost for transporting it into the space. 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. Joint torque sensor, joint position sensor and temperature sensors etc. were integrated into the fully modular multi-sensor joint, which made the joint more intelligent. A zero gravity experimental system was developed to verify the functions of the robot under zero gravity environment.