Self-contained robotic arm manipulator

摘要

The problem facing the space exploration program is that the lunar surface must be prepared for colonization. This preparation process must be coordinated and executed from Earth. Since there is no human interaction, other than remote operations, there needs to be a way to set up and operate test equipment to check the environment. Once the construction equipment arrive on the lunar surface, this same implement must be able to repair any damaged equipment. A robotic arm type manipulator, when interfaced with SKITTER, is the solution to this problem. The design, a self-contained robotic arm manipulator (SCRAM), will be able to do repair operations, from changing a wheel on a lunar rover to salvaging useable parts from damaged equipment, as well as the placing of scientific test equipment. SCRAM will also be able to modify the construction equipment for various jobs. The design of the manipulator is analyzed and specs are given and discussed.