Design Concept and System Architecture of Reconfigurable Brachiating Space Robot
Ryoichi Hayashi*, Saburo Matunaga* and Yoshiaki Ohkami**
*Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1, O-okayama, Meguro-ku, Tokyo 152-8552, Japan
**Tsukuba Space Center R & D Division, National Space Development Agency of Japan, 2-1-1 Sengen, Tsukuba-shi,lbaraki-ken 305-8505, Japan
This paper presents a summary of the system of “Reconfigurable Brachiating Space Robot (RBR)”. The robot consists of a center hub and three 6 degree-of-freedom arms with an end-effector and a pivot, which has a reconfigurable mechanism, for each arm. This space robot is capable of moving over the Japanese Experimental Module of the International Space Station in a brachiating manner and also capable of arm reconfiguration according to the various task requirements. This paper explains the system architecture of RBR, mainly, the arm components, which are modularized joints, multi-function end-effector, pivot and the docking element in detail, and also focuses on the cable reduction technique with the hierarchical distributed controller system and the communications system.
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