The manipulator launched with the TianHe capsule is currently the most complex, intelligent, and integrated space intelligence system in China. It indicates that China has become the world's third country after Canada and Japan who has the ability to independently develop the Space Station Manipulator. When designing the manipulator, we have to concern the space environment of vibration, vacuum, thermal and electromagnetic radiation in aerospace, and the joints must adapt to the space environment. By adopting a series of methods of multi-point compression, solid silicate bonded MoS2 known as PM5, a combining of active thermal control and passive thermal control, the problem of environmental adaptability is solved. The joint successfully passed the verification of mechanical test, thermal cycle test, thermal vacuum test and life test. The environmental adaptability design and verification of the joint can be used as a reference for joints and end effectors of space manipulator.