A Concept for the Satellite On-Orbit Self-Servicing

The paper puts forward a new concept of the satellite on-orbit self-servicing (SOOSS) which can maintain the malfunctions of deployable appendages of satellites (i.e. solar arrays, communications antennas, etc.). In order to verify this concept, a ground testbed has been presented, a light weight 4 DOF manipulator with an end effector mounted on the satellite are designed to accomplish above operations. The predominant features of the robot system are mechatronics, multi-sensory and intelligent control. The manipulator is composed of four identical joints, the large hollow joint makes the cables pass through in the manipulator which can prevent them from damage of high temperature and radiation in the space environment. The modular designed joint integrates torque sensor, position sensor, redundant motor position sensors, temperature sensors and current sensors. For the end effector, dexterous DLR/HIT hand is employed