Tethers Unlimited, Inc. (TUI) proposes to develop KRAKEN-X, a compact 7 degree of freedom (DOF) modularly configurable robotic manipulator as a payload for on-orbit servicing (OOS) missions. KRAKEN-X will be a space-qualified version of TUIs KRAKEN robotic manipulator, which is based on compact 2DOF series elastic actuator (SEA) modules and is currently being matured for use inside the International Space Station (ISS) as part of the MANTIS Express Rack payload. KRAKEN-X will enable a new class of small satellite OOS mission scenarios which target smaller client craft with more mass-efficient servicer craft than is possible with currently available manipulator solutions. Two KRAKEN-X arms will stow in a 42 cm x 25 cm x 18 cm volume on the host system and will support an expandable toolset of hot-swappable end-effectors, which can be carried on the host in advance or upgraded after deployment. KRAKEN-X supports compliant end-effector placement, and precise force control both through the mechanical compliance inherent to the KRAKEN SEA joints and through active compliance control of the arm in-situ. The KRAKEN arm is designed for semi-autonomous control, allowing for robust tele-operation, tolerant to communication latency in missions beyond LEO.robotic arm,on-orbit servicing,series elastic actuator,micro satellite,in-space Assembly
