# Design and Testing of Torveastro: An Outer Space Service Robot
## 8 Discussion  
Multiple sources contribute to the criticism of human space missions. Certain people emphasize the expensive nature of human missions. They contend that the National Aeronautics and Space Administration is overburdened, and that human spaceflight diverts funding from other important tasks. Others deny the scientific relevance of space exploration by humans. Space remains a harsh place for mankind. It is crucial to create preventative procedures to safeguard the astronaut and the robot in the case of those extreme environmental conditions. Thus, for safety concerns in space exploration, an astronaut-helping robot gains more and more importance for supporting astronauts with assigned duties and may even potentially replace people for dangerous operations. Maintenance, repair, docking, and other duties conducted outside the International Space Station need the employment of service robots capable of transferring tools, replacement parts, and other essential equipment. The major social goal of the Torveastro service astronaut robot is to replace humans for outside chores and for the monitoring and basic maintenance of the space station's outer structure, therefore decreasing the astronauts' danger exposure. The remote projection of human capabilities into the Torveastro robot utilizing its teleoperation features may make risk-free field research on orbital stations possible. In telepresence, the motions of a human operator may be communicated electronically to a robot that can imitate them. The visual information provided by the robot's sensors and cameras may give the human operator the sensation of being physically there throughout the space mission. It is possible to outfit the robot stand-in with greater strength, endurance, and sensory capabilities. Additionally, the Torveastro astronaut robot may highlight the social value of space exploration to the community, hence generating interest in the topic. This may result in more transdisciplinary and international collaboration across many areas, leading to a higher societal effect. The Torveastro project tackles the\"issues of developing a framework for a service robot in orbital station applications by analyzing application-specific requirements in an effort to create a trustworthy, adaptive solution. Torveastro is an astronaut robot with a central body that contains the engines and three equal cable-driven limbs, each fitted with an end-effector capable of clinging to the same handles on the International Space Station for astronauts (and other compatible structures) and employing maintenance equipment. The mechanical design includes three cable-driven limbs, with each limb comprising a curved shaft arm, a curved shaft forearm, a gripper with two fingers, an actuator for the shoulder joint, an actuator for the arm joint, an actuator for the forearm joint that drives a pulley placed on the elbow with a belt, and an actuator for the gripper. The forearm transmission belt consists of a belt that links the actuator to the elbow pulley and moves within an arm shaft-shaped guide. Therefore, the robot's resting position needs a modest capacity, which is useful during the launch and inactivity periods. In addition, this design allows the electronics, control, and actuators to be placed inside the core body with sufficient isolation, preventing environmental conditions from causing harm. Up to now, the design of the Torveastro astronaut robot has centered on the qualities of a low-cost terrestrial demonstration that demonstrates the properties of the proposed Torveastro architecture through the presented simulation results and prototype tests. The proposed kinematic provided the transfer of motion and forces to the joints of the limbs so that the prototype conducted the desired operations. Future advances will focus on the design of an end-effector that can operate as either a gripper or a foot, depending on the job at hand.