Truss-Walking Robotic Arm

Real space-station manipulators like Canadarm2 don't ride on a fixed base — they relocate themselves hand-over-hand along a truss, alternately grappling and releasing identical end effectors at fixed Power/Data Grapple Fixture points. This simulator models that inchworm gait with real two-link inverse kinematics driving each swing, plus a damped-oscillator model of structural tip vibration that must settle before the next latch is safe. Tune fixture spacing against the arm's total reach, add carried payload mass, and adjust joint damping to see how each changes the walking cadence and the risk of a missed grapple.