DESIGN AND DEVELOPMENT OF AN INTEGRATED JOINT FOR THE DEXTROUS ROBOT ARM

Abstract

The DEXARM [1] project is focused on the design and development of a robot arm comparable in size, force and dexterity to a human arm. The objective is to prepare the technology for future missions and applications, like external or internal servicing of orbiting platforms or robotics for planetary exploration. The first user programme currently envisaged for DEXARM is EUROBOT [2], a three-arm robot complementary in capability to an EVA crewmember, to be used for ISS extravehicular operations, like crawling along the space station structure utilising standard EVA interfaces, execution or support to routine EVA tasks, removal and replacement of ORUs, assistance in contingency operations that require EVA. Beyond the design constraints posed by the tough space environment, the main challenges of this development lay in the minimisation of resources (mass, volume and power) that the applications require. To achieve this goal, ESA has encouraged the exploitation of innovative approaches and technologies to drastically minimise mass, volume and power consumption while providing adequate performance (output torque capability and positioning accuracy/repeatability).