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20 connections actuation alignment guides angular misalignments ARASS demonstration Assembly of Space astronaut axial stiffness belleville belleville washers bolted joint Bolted/Flex Drive Joint camera view capture guide clocking collet assembly Collet/Flex Drive Joint compression spring force Design for Assembly Design Requirements device end effector EVA assembly fiducial figure of merit flex drive flexible node simulator force/torque sensor Hammer-Head Joint hardware hysteresis inch insertion point Johnson Space Center joint body Joint Coordinate System joint design joint is shown Laboratory linear longeron low Earth orbit misalignment tests misalignment tolerance node ball NUMBER operation orbit preload Prototype cost Real robots receptacle Remote Manipulator System retracting bolt Robot-Friendly Structural Joint robotic assembly Robotics and Mechanical roll misalignment rotate scar shown in figure soft capture space station truss Space Structure structural properties structural test strut Teleoperator Threaded Collar Joint tightened torque torsional truss joint truss tube Vision System Test WETF worm gear