The Walking Manipulator (WM) is a product line enabling robotic on-orbit servicing and reconfiguration. Optionally the Walking Manipulator itself is reconfigurable to provide increased reliability and additional functions.
This robotic system aims at installing and releasing satellites modules (from servicer to client spacecraft and inversely). It also has the capability to relocate itself over the spacecraft structure in order to perform tasks at different location. To do so, MOSAR-WM features 7 degree of freedom (DOF), a symmetrical and anthropomorphic kinematics, and standard interconnects at each tip for mechanical, data and power connections to the spacecraft. It also embeds its own power and data avionics as well as servo and robot control units.
The overall length of the robotic arm is 1.6 meters for an approximate weight of 30kg and has a lifting capability of 10-kg payloads at 1g in its entire workspace.
Each joint of the MOSAR-WM is equipped with state of the art actuation technology, position and torque sensors. This enables the implementation of a large panel of control strategies including positon and impedance based control.
It provides CAN, Ethernet, EtherCAT and SpaceWire communications interfaces