Due to the growing threat from space debris and the accelerating increase in the number of active satellites, Active Debris Removal (ADR) and In-Orbit Servicing (IOS) missions are currently being developed. A robotic manipulator mounted on a servicing satellite will enable precise grasping of a target object and is needed to perform complex servicing tasks. This paper presents a comprehensive review of robotic manipulators developed for ADR and IOS missions. This review includes the manipulators that have already been used in orbital missions, those developed in the past for missions that were cancelled, technology demonstrators, and the manipulators currently in development for planned missions. The review includes the following manipulators: the Shuttle Remote Manipulator System, the manipulator developed for the ETS-VII mission, the Orbital Express Demonstration Manipulator System, the manipulator developed for the DEOS mission, the CAESAR, the LARAD, the VISPA, the WMS 1 Lemur, the TITAN, the FREND, the STAARK, and the TINA manipulators. Small manipulators designed for nanosatellites are also reviewed. Basic parameters of manipulators, such as the number of degrees of freedom, mass, and length, are compared. The Denavit-Hartenberg parameters and kinematic structures of the selected manipulators are presented. The paper includes a discussion of specific design features, such as the manipulator joint design. Finally, recent trends and future prospects are explored.

中文翻译：

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用于在轨维修和主动碎片清除的机器人机械手：回顾和比较


由于空间碎片的威胁越来越大，活跃卫星的数量正在加速增加，目前正在开发主动碎片清除 （ADR） 和在轨服务 （IOS） 任务。安装在维修卫星上的机器人机械手将能够精确抓取目标物体，并且需要执行复杂的维修任务。本文全面回顾了为 ADR 和 IOS 任务开发的机器人机械手。本综述包括已经用于轨道任务的机械手、过去为被取消的任务开发的机械手、技术演示器以及目前正在为计划任务开发的机械手。审查包括以下机械手：航天飞机远程机械手系统、为 ETS-VII 任务开发的机械手、轨道快车演示机械手系统、为 DEOS 任务开发的机械手、CAESAR、LARAD、VISPA、WMS 1 狐猴、TITAN、FREND、STAARK 和 TINA 机械手。还回顾了为纳米卫星设计的小型机械手。比较操纵器的基本参数，例如自由度数、质量和长度。显示了所选操纵器的 Denavit-Hartenberg 参数和运动结构。本文包括对特定设计特征的讨论，例如机械手关节设计。最后，探讨了最近的趋势和未来前景。