The design of robot for space station operation

In this paper, a simple redundant space robot is proposed to assist astronauts and execute extra-vehicular activities (EVA) on a space station. Different from conventional space station robots, proposed robot has good mobility and high coverage in space station modules. The improvement is mainly contributed by a novel rail and robot base. The rail is designed with a circular shape so it can cover most exterior of the space station modules. Robot arm is designed in high accuracy, 6 meter long and 7 degree of freedom with redundant and modular joints. It is also designed in symmetrical configuration to have walking capability among the space station modules. This paper discusses the robot design and tasks simulation.