Design and Engineering Realization of the Joint for Chang'E-5 Surface Sampling Arm.

Joints are the basis for the dexterous movement and precise positioning of China Chang’E-5(CE-5) Surface Sampling Arm which had successfully completed the lunar soil sampling. The sampling arm consists of four joints in total, among which the composition and layout of the shoulder yaw joint, shoulder pitch joint and elbow pitch joint are similar. In addition to the output speed and torque function, the wrist pitch joint also integrates the lunar-touching sensing function and the cable routing function. This article introduces the task requirements, joint scheme design, engineering realization and verification of the robotic arm joints.