Hyper redundant modular manipulator arm

摘要

We introduce the hyper-redundant modular manipulator arm (HRMA) ground test system, which is the ground experimental model for the technology of orbital maintenance system (OMS). OMS consists of three steps: 1) inspecting the satellite, 2) re-orbiting the useless satellite, and 3) simply repairing satellites in space. This HRMA is the arm for inspecting of satellites, the first step of OMS. HRMA model consists of: modules of the control processor, actuators for 2-degree of freedom, and simply a joint mechanism which can be connected and disconnected by simple robotic motion and also resist inertia during space operation. In this paper, we introduce the HRMA system, its basic specifications, and the future plan.