Yuto Takei

A Study on the End-Effector Exchange Mechanism of a Space Robot

This study investigates the necessity for space robots to independently exchange their end-effectors due to the contradiction that exists between the requirements of various robots in space missions and the payload capacity limits of rockets. The results of this study summarize the system requirements for a new end-effector exchange mechanism, including compact size, misalignment tolerance, and regolith tolerance. This is followed by the development of a prototype model with a set of test apparatus. Then the function of the prototype is verified, the prototype is optimized, and the relation between docking force and misalignment is examined through operation tests.

A wearable manipulator for supporting extra-vehicular activity: Concept and a prototype for ground test

To support astronauts during Extra-vehicular Activity (EVA), a novel wearable manipulator for supporting EVA, which is attached to the EVA suit or handrails mounted on the outer wall of the space station, was proposed. The significant feature of the proposed manipulator is its ability to work together with astronauts as a highly functional tool, unlike conventional support robots which operate independently. A prototype of the wearable manipulator for ground test was built based on the requirement analysis, and some preliminary tests validated that it could work under the gravity environment on the ground without self-weight compensation provided no external load was exerted.