Robotic manipulators for aerospace applications require a delicate balance between lightweight construction and fault-tolerant operation to satisfy strict weight limitations and ensure reliability in remote, hazardous environments. This paper presents Time-Division Multiplexing Actuation (TDMA), a practical approach for tendon-driven robots that significantly reduces actuator count while preserving high torque output and intrinsic fault tolerance. The key hardware employs a vertically-stacked rotational selection structure that integrates self-rotating TDM motors for rapid configuration, electromagnetic clutches enabling sub-0.1 second engagement, a worm gear reducer for enhanced load capacity and self-locking capability, and a dual-encoder system for precise, long-term positioning. Leveraging TDMA, the proposed MuxArm achieves a self-weight of 2.17 kg, supports an actuator driving capacity of 10 kg, and maintains end-effector accuracy up to 1% of its length, even under partial servo failure. Additionally, an actuation space trajectory planning algorithm is developed, enabling fault-tolerant control and reducing tendon load by up to 50% compared to conventional methods. Comprehensive experiments demonstrate MuxArm's robust performance in diverse settings, including free-space, cluttered, and confined environments.

翻译：面向航天应用的机器人操作臂需要在轻量化构造与容错运行之间实现精细平衡，以严格满足重量限制并确保在远程恶劣环境中的可靠性。本文提出时分复用驱动（TDMA）方法，这是一种用于腱驱动机器人的实用方案，可在显著减少驱动器数量的同时保持高扭矩输出与固有容错能力。关键硬件采用垂直堆叠式旋转选择结构，集成自旋转TDM电机实现快速配置、电磁离合器实现亚0.1秒接合、蜗轮减速器提升负载能力及自锁功能，并配备双编码器系统实现精准长期定位。基于TDMA技术，所提出的MuxArm机械臂自重2.17千克，支持10千克驱动负载，即使在部分伺服故障情况下，末端执行器定位精度仍可达臂展长度的1%。此外，本文开发了驱动空间轨迹规划算法，实现容错控制，并将腱绳负载较传统方法降低高达50%。综合实验验证了MuxArm在自由空间、杂乱环境及受限空间等多场景下的强健性能。