Design and Validation of Maintenance System for Space Manipulator Grapple Fixture

The space manipulator plays an integral role in the assembly and construction of the China space station. The grapple fixture is positioned at designated locations on the space station as the foundation for the space manipulator. It is utilized in conjunction with the space manipulator to capture target objects and complete crawling tasks. The performance of the space manipulator is directly impacted by the grapple fixture, and a failure of the grapple fixture can even jeopardize the space station mission. This paper analyzed the maintenance requirements of the grapple fixture, proposed a maintenance system for it, and executed replacement tasks with the assistance of maintenance tools and astronauts in orbit. The feasibility of this approach is verified through ground testing and simulation analysis. The results will serve as a valuable reference and engineering guidance for future space manipulator maintenance.