F-6-3-3 Concept Verification Model of Space Manipulator using Offset Axis Joint

Abstract

This paper describes new architecture of a space manipulator and fabrication of a prototype model. The new architecture of the manipulator is the offset axis joint of which axes are intersecting each other with slant/offset angle. The offset axis joints are revolved around an offset angled axle that is slanting with respect to the driver link axis and the driven link axis. The end point of a driven link is moved on a conical locus as joint rotation. Sequential connection of these types of joints makes the end point be located at an arbitrary position in three-dimensional space.