Development of high integration modular joint for space manipulator

Based on big central hole design method, a space manipulator modular joint is developed, which includes many sensors, such as position sensor, torque sensor and temperature sensor. All the electrical systems are integrated in the modular joint, including sensors system, driver system, control system and power system. In order to avoid the effect of space environment on the cables and their signals, all the cables are laid through the central hole of the modular joint. The results of joint performance tests show that the modular joint possesses many good abilities, such as high stiffness, big load and very high control precision approaching to 0.01°.