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<p>With the China Space Station entering long‑term operations, in‑cabin science tasks require compact and dexterous manipulators. This work develops a foldable seven‑DOF modular manipulator whose topology is synthesized using the position‑and‑orientation characteristics (POC) set. A compact folding mechanism reduces the stowed volume by 41%, and a highly integrated modular joint architecture with a hollow alignment layout. Then we propose a multi‑bounding‑boxes collision detection scheme based on graphical intersection and sequential detection, which improves computational efficiency. A prototype and ground test system are built to validate. Under maximum load, the joints maintain an absolute positioning accuracy of 0.0098°. During obstacle avoidance trajectory execution, all joints operate within the safe torque range (maximum 10.09 N·m, 8.02% deviation from theory), while the end achieves maximum position and orientation errors (&lt; 0.074 mm, &lt; 0.0068°). Folding experiments further verify deployment reliability. These results confirm that the manipulator satisfies in-cabin space station precision and safety requirements, providing a practical basis for future applications.</p>

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A Foldable Seven-DOF Manipulator for Space Station Science Experiments: Type Synthesis, Collision Detection and Experiments

  • 期刊论文

  • 发表日期：

    2025年12月11日

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  • Junjie Li,
  • Yuan Quan,
  • Chong Zhao,
  • Congmin Lv,
  • Ke Wang

摘要

With the China Space Station entering long‑term operations, in‑cabin science tasks require compact and dexterous manipulators. This work develops a foldable seven‑DOF modular manipulator whose topology is synthesized using the position‑and‑orientation characteristics (POC) set. A compact folding mechanism reduces the stowed volume by 41%, and a highly integrated modular joint architecture with a hollow alignment layout. Then we propose a multi‑bounding‑boxes collision detection scheme based on graphical intersection and sequential detection, which improves computational efficiency. A prototype and ground test system are built to validate. Under maximum load, the joints maintain an absolute positioning accuracy of 0.0098°. During obstacle avoidance trajectory execution, all joints operate within the safe torque range (maximum 10.09 N·m, 8.02% deviation from theory), while the end achieves maximum position and orientation errors (< 0.074 mm, < 0.0068°). Folding experiments further verify deployment reliability. These results confirm that the manipulator satisfies in-cabin space station precision and safety requirements, providing a practical basis for future applications.