Integrative joint for space manipulator

To solve the problems of large volume, complex routing and low system precision for space manipulator, an integrative design is presented, which integrates permanent magnet synchronous motor, controller, driver, resolver, adaptability design of space environment, routing and joint mechanism and so on into a whole. To realize each component in joint to match exactly each other, all components of integrative joint are simultaneously planned and designed to achieve the performance of high-cohesion and low-coupling. This kind of design can eliminate the redundant shells and mount surfaces in traditional joint of space manipulator, which can increase power density and enhance system performance with a simple mechanical interface and standard electrical interface. This paper also proposes a novel method to realize dual-redundancy detection for motor rotor and joint positions by installing two resolvers onto motor shaft at the same time. In addition, thermal control is adopted to make the joint work properly in space environment.