TINA: small torque controlled robotic arm for exploration and small satellites

Abstract

The worldwide increasing use of compliant robotic arms forces the design of modular concepts. DLR developed modular torque controlled joints that can be connected according to the needs of the mission. The thereby gained flexibility allows a fast adaption for many different applications, avoiding expensive costs in complete redevelopment. The design of TINA is following the “qualifiable" philosophy of DEXHAND [2], it is using industrial components that have similar performance as the space equivalent and following the ECSS guidelines closely. This philosophy ensures that the transition to a fully qualified design can be achieved with minimal envelop modifications. It also provides a nearly perfect model for the thermal and EMI modelling. With the development of TINA, the Institute of Robotics and Mechatronics at the German Aerospace Center continuous the successful way of compliant robotics arms for space applications.