Mini-Teleoperation Technology for Space Research

摘要

A small direct drive serial manipulator has been developed for applications in sample handling for scientific payloads in space. The manipulator is about 15 cm in length, and has 5-10 microns positioning precision. The prototype forms the basis for design of the MicroTrex flight experiment for NASA. The experiment will measure performance of the robot in low earth orbit under control from a ground station. This paper describes the design of the manipulator, some experimental results of the manipulator performance, and plans for space flight testing.