FIELD: physics.
SUBSTANCE: robotic system contains a seven-stage manipulator with a final link in the form of a device for fixing the replacement tool, a magazine of replaceable tools in the form of a platform rotating around its axis, with universal attachment devices and a set of interchangeable tools. The seven-stage manipulator is equipped with torque sensors in each of its hinges. The final link of the manipulator is equipped with a force and torque sensor and a connector for powering the power tool. In this case, the system is equipped with an orientation module, which is a four-stage manipulator with an observation unit located on it, rotating around the platform of the magazine of exchangeable tools independently of it.
EFFECT: invention allows to improve the quality and ensure the safety of the performance of service operations, to reduce the time and energy costs for servicing the spacecraft.
2 dwg
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