Development of the interchangeable devices for space robot system

There are many space servicing tasks for space robots. With a single end effector, the space robot even can not meet the operation requirements of individual task. The space robot system has a self-relocating main manipulator arm and a dexterous robot arm to perform the tasks. To mount/de-mount payloads and tools, interfaces between the end effector and payloads/tools are standardized using grapple fixtures. An end effector and its grapple fixtures constitute an interchangeable device. According to the requirements, three interchangeable devices have been developed based on the different alignment features. Their comparisons indicate that the latest interchangeable device is for the main manipulator and also for the dexterous manipulator with the second.