I stumbled across this link while looking for more info about the CSS Robotic Arm, and in particular the load capacity (weight) that can be handled by this robotic arm -- have not found the exact number, but I guess it should be able to handle payload up to 20-22 tons in order to move the additional modules around.
Anyhow here's some interesting reading:
An Overview of the Space Robotics Progress in China
In China, early robot research for space exploration started from 90’s. Intensive investigation of space robot was initiated from 2000 and a great number of special funds were assigned on the space robot projects. In this paper, after briefing the China’s Manned Space Engineering (CMSE) and the Chang'e Lunar Exploration Project (CLEP), we elaborate to present the current developing status of the Chinese Space Station Remote Manipulator System (CSSRMS) and the Yutu Rover, as well as to give prospective about the China’s space robot development in the future, especially, for a robot astronaut.
China’s manned space station, namely Tiangong, will have been built by 2021. It consists of one core module (CM), two experimental modules (EM), and one cargo spaceship. These modules will be assembled on orbit by using a remote robot manipulator system consisting of a big arm (10m) and a small arm (5m).
From the view of the successful application of Canada and Japanese manipulators in the ISS, it is found that these space robots primarily have the following technical characteristics:
• Cooperative work of two manipulators
• Ability of crawl moving
• High-tolerance capturing ability
• Modular design of core parts
• Necessary safety consideration
It has been well noticed that the single manipulator is hard to independently complete various operating tasks on the space station. Thus, mutual manipulation and collaborative work of manipulators with different sizes and functions are necessary.
The space manipulator needs to complete tasks as module transposition, full-range payload care, astronaut EVA activities, outside check of the module, and equipment transportation and installation. The experimental payload primarily includes exposed experimental platform on experimental module I and optical platform on experimental module II. In this large range (about 17m), taking care of all payloads requires the manipulator has long length and high end precision.
In consideration of launching power, space limitation and end operating task, the China space station manipulator was configured as a dual-arm setting (10m+5m): the big manipulator completes the manipulation with heavy payload and relatively low accuracy requirement in broad range; while the small manipulator completes the manipulation with high accuracy in narrow operating space. The big manipulator is installed to the space station core module (termed as core module manipulator, CMM); and the small manipulator is located to the experimental modules I or II (termed as experimental module manipulator, EMM) and able to be transferred between these two modules with the assistance of the big manipulator.
Functions of the big manipulator are primarily to transpose module, care payload of core module, carry cargo, and assist the small manipulator for conducting astronaut EVA activities in the range of all modules.
The small manipulator is able to work independently on the experimental module I and II, so as to look after the exposed experimental platform and optical platform, module check and EVA activity support, as shown in Fig. 2.
Another feasible configuration is that the small manipulator is located to the end of the big manipulator to compose a series-connected manipulator system with length of 15m, as shown in Fig. 3.In accordance with the required operation tasks, we provide some core specifications for the China space station manipulator, as shown in Table 1.
The EMM is a 7-DOF (degrees of freedom) robot arm system, wherein its 2 wrist parts have total 6 DOF’s (each has 3 DOF’s) and the elbow joint has 1 DOF. Both ends of the EMM are installed with an end-effector, respectively, which is configured with hand eye cameras and elbow cameras.
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Authored by Hong Liu, State Key Laboratory of Robotics and System, Harbin Institute of Technology
(7 pages, 625 kb)