Prototype of ultra-light planetary manipulator – design , tests and simulations

Planetary Manipulators are used quite often in space exploration and in situ measurement. Since it is planned to intensify space exploration (Mars and Moon are the mostly foreseen), its role should also expand [1, 7]. Presented in this paper is a newly developed 3dof Ultra-Light Planetary Manipulator (ULPM). Its main role is extended service for exploration tools and scientific instruments. The essence of the concept is taken from the MUPUS instrument manipulator for the Rosetta mission. In this attempt, it is successfully demonstrated that the previous concept was valuable and it could be a reference for a new, improved technology solutions. As result, an entirely new ULMP laboratory model was developed. The design is focused on the following constraints: low mass of the unit with possibly long extension range. The integrated device was intensively tested in laboratory conditions. The tests confirmed its operational functionality and overall performance. Particularly, it was ascertained that this very lightweight and flexible construction can safely operate with certain loads. The design of the UltraLight Planetary Manipulator was supported by appropriate analysis and dynamic simulations.