Design and Experimental of a Bio-inspired Tendon-driven Space Manipulator

With the rapid advancement of space technology and the increasing complexity of space missions, the demand for robotic systems in the space environment has become increasingly significant. Against this backdrop, tendon-driven manipulators, as a novel structural form for space robotics, have attracted considerable attention from both academia and industry. Tendon-driven manipulators offer greater flexibility, lower mass, lower power consumption, and broader application potential compared to traditional manipulator designs. This research focuses on the development of a biomimetic tendon-driven space manipulator, specifically including mechanical design, the establishment of the kinematic model, the development of a functional prototype and the experimental validation of foldability and operational smoothness. Experimental results demonstrate that the manipulator achieves autonomous folding within a range of 90° to 150° in a vertical configuration, can execute continuous and smooth circular arc trajectory motions. Furthermore, this study meets the requirements of lightweight and large space robotic arms and provides a design solution for future applications in space missions.