A module type manipulator for remote inspection in space

Abstract

The major issue now in space robot development is cost reduction. The modular type re-configurable robot is one unique solution for such a reduction in costs. If the manipulator is controlled by cooperating multiprocessors in a decentralized manner, the robot can overcome partial failure. In this type of system, when a module fails, the manipulator can eliminate the faults by reconfiguring itself. We introduce a re-configurable modular-type manipulator for space utilization. The manipulator system is interconnected by a joint mechanism which can be connected and disconnected by simple robotic motion and also resist inertia during space operation. The modules are also specially designed for thermal, vacuum, and radiation conditions. We have adopted a decentralized control algorithm for the redundant manipulator, which automatically adapts to the manipulator reconfigurations.