Development of an EVA end-effector, grapple fixtures and tools forthe satellite mounted robot system

摘要

There are many tasks to be performed by space robots. However asingle end-effector can not meet the individual task's requirements.NASDA is to launch an experimental robot satellite named ETS-VII. Thesatellite has a 6-DOF robot-arm to handle many experimental payloads.Payloads vary in mass, shape and size. Interfaces between payloads andthe end-effector are standardized using grapple fixtures. Additionaltools with grapple fixtures are also developed to meet specific taskrequirements. This paper shows current status of the space-robot's EVAend-effector and development result of the ETS-VII's end-effector,grapple fixtures and tools