Spider-inspired embedded actuator for space applications

A novel mechanism inspired by spider legs is presented and discussed in this paper. The mechanism has the potential to be used in future space applications, although the harsh space conditions, and in particular outgassing, should be carefully addressed in the design of a space-qualified model, The mechanism, called “Smart Stick”, has one degree of freedom and is actuated by a pressurised fluidic system. The prototype, which has been designed, built and tested, is of compact size and presents a repeatable behaviour. The relation between pressure and rotation is approximately linear when the pressure is less than 1.2 MPa. The mechanism is suitable for a modular configuration in which several Smart Stick modules are joined together. This modular configuration allows large rotations and does not increase the complexity of the actuation.