Advanced mechatronics in ESA's space robotics developments

Space robots are driven by requirements for high performance and versatility under extreme constraints of low mass, low energy consumption, and few interaction possibilities with supervising humans. This necessitates high degrees of miniaturisation and autonomy. The paper gives an overview of advanced mechatronic solutions for novel space robot systems in a variety of applications: small robot arms for operation on a Space Station or on planets; various concepts of mobility on the Moon, Mars, or Mercury; penetrating or drilling systems for subsurface investigations; micro satellites circling a Space Station and flying robots exploring extreme topologies on Mars.