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actuation angular misalignments ARASS demonstration astronaut battery of misalignment belleville belleville washers bolted joint Bolted/Flex Drive Joint camera view chamfers collet assembly collet fingers Collet/Flex Drive Joint Design for Assembly Design Requirements end effector end fixity EVA assembly fiducial figure of merit flex drive flexible node simulator force/torque sensor guide pin hole Hammer-Head Joint hardware inch insertion point Johnson Space Center joint body Joint Coordinate System joint is shown longeron low Earth orbit misalignment tests misalignment tolerance node ball preload prototype Real robots receptacle Remote Manipulator System retracting bolt robot-friendliness tests Robot-Friendly Joint Selection Robot-Friendly Structural Fasteners Robot-Friendly Structural Joint Robotics and Mechanical roll misalignment rotate scar score shown in figure slide slot soft capture space station truss Space Structure structural test strut Teleoperator Threaded Collar Joint tightened torque torsional truss joint truss tube vision system compatibility Vision System Test weight WETF Workcell worm gear