A self-assembly deployable manipulator has been developed using a compact stowage design that fits a 1.5-meter multiple joints robotic arm inside a 3U CubeSat volume, supported by an origami-based reciprocal structural methodology that resolves geometric and physical challenges arising during coiling for high packing efficiency. Feasibility is confirmed through microgravity-compatible deployment experiments and free-floating flexible multibody simulations, indicating applicability to future ISAM (In-Space Servicing, Assembly and Manufacturing) missions.