抄録
For providing further support toward manned space activity, robots are expected to conduct various and also far dexterous tasks than ever. Such robot, Astronaut Supporting Robot, has to handle different shape, size and mass at various works. One solution is to develop multiple numbers of modularized robotic end effector (EE) that is exchangeable so as to obtain dexterity and reliability at once. In order to utilize modularized EE, robotic arm and EE need to possess interface mechanism (wrist interface) which can connect EE structurally and electrically with robotic arm, and as such interface designed especially for astronaut supporting robot, Detachable Wrist Interface Mechanism (DWIM) was proposed. In this paper, first requests and requirements for wrist interface, then the concept and design of DWIM are described briefly, and the current status of functional testing is reported.
