L2-ROB-MANIP
CRITICAL
ROBOTICS
Level 2 · hardware
Fixed Manipulator Arms
Fixed Manipulator Arm System
Workstation-mounted precision arms for assembly, sample handling, and heavy lift operations
Purpose
Provide high-precision and high-force manipulation at fixed workstations
Context
Component of L1-ROB within the Lunar Ark system
Principles
- ▸Serial-link robotic arms provide dexterous manipulation in defined work envelopes
- ▸Force-torque sensing enables compliant manipulation and damage prevention
- ▸Kinematic redundancy (7+ DOF) enables obstacle avoidance during task execution
- ▸Tool changers allow single arm to perform multiple task types
Typical implementations
- ▸ISS Canadarm2 (SSRMS) 7-DOF robotic arm, 17m reach
- ▸ISS Dextre (SPDM) dual-arm dexterous manipulator for ORU servicing
- ▸JAXA ETS-VII and JEM-RMS (Japanese Experiment Module Remote Manipulator)
- ▸DARPA Robotic Servicing of Geosynchronous Satellites (RSGS) manipulators
Lunar considerations
- ▸1/6g reduces arm payload capacity requirements but adds unique dynamics
- ▸Vacuum environment eliminates lubricant options - must use solid lubricants or vacuum-rated grease
- ▸Thermal cycling causes differential expansion in arm joints requiring compensation
- ▸Dust ingress into joints is primary reliability concern over 100-year life
Specifications
Functional
| primary function | Provide high-precision and high-force manipulation at fixed workstations |
Operational
| thermal range c | -173, 127 |
| lifetime years | 100 |
Interfaces
Provides
- Dexterous manipulation for maintenance tasks
Requires
- Power for arm motors and control electronics (~200-500W)
- Task commands and sensor data processing
Decomposes into
L3-ROB-MANIP-ARM
Robotic Arm
7-degree-of-freedom rad-tolerant robotic arm providing dexterous manipulation for L1-MNT, L1-MFG, and L1-ISR operations.
L3-ROB-MANIP-JNT
Robotic Joint Modules
Standardised joint modules with integrated BLDC drive + encoder + harmonic-drive reducer — replaceable as FRUs via L1-MN
L3-ROB-MANIP-FT
Force/Torque Sensors
6-axis force/torque sensors at end-effector enabling delicate contact tasks (gripping, insertion, assembly) with feedbac
L3-ROB-MANIP-TOOL
End-Effector Tool Set
Standardised end-effector tool set (grippers, drills, welders, cameras) with quick-change interface for task-specific ma
L3-ROB-MANIP-CTRL
Manipulation Controller
Real-time controller running kinematic + dynamic control with force compliance, motion planning, and safety supervision
Cite this entry
Lunar Ark Codex. "Fixed Manipulator Arms" (L2-ROB-MANIP). Retrieved 10 September 2026, from https://lunarark.com/entry/L2-ROB-MANIP
Licensed CC-BY-SA 4.0. You may reuse and adapt this entry with attribution, under the same licence.