Development of Detachable Wrist Interface Mechanism (DWIM) for Dexterous Manipulator on Astronaut Supporting Robot

Abstract

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. In this paper, author presents Detachable Wrist Interface Mechanism (DWIM) as a wrist interface suitable for astronaut supporting robot. First, requests and requirements for wrist interface are clarified, and then the concept and design of DWIM is proposed. Based on the design, prototype model was fabricated, and the results from function verification tests are reported.