Advancements in Design and Testing of IDRA, a Modular Inflatable Robotic Arm for Space Applications

This paper presents the design, implementation, and preliminary testing of IDRA, a modular inflatable robotic arm for In-Space Servicing, Assembly, and Manufacturing (ISAM) applications. The system leverages inflatable link technology to achieve a high packing ratio and large operational workspace, enabling functionalities beyond the capabilities of conventional rigid manipulators. A planar prototype was developed for functional validation under laboratory conditions using visual servoing control. Experimental trials assessed positioning accuracy and repeatability across varying internal pressures, demonstrating reliable convergence to the target despite the inherent compliance of the inflatable structure. The results confirm the robustness of the control strategy. Building on these outcomes, future work will focus on integrating the latest chamber design with a deployment-retraction mechanism, validating it in thermal-vacuum conditions, and advancing toward a fully operational multi-DOF robotic system suitable for space environments.