→ European Robotic Arm (ERA) Large relocatable symmetrical robotic arm with 7 degrees of freedom
ERA acts as a tool for: Installation, deployment and replacement of elements of the Russian Segment of the Space Station, inspection of the Russian Segment, support/transfer of EVA cosmonauts, transfer of Orbital Replacement Units and other assembly tasks. The arm consists of 2 End Effectors, 2 Wrists, 2 Limbs and 1 Elbow joint together with electronics and cameras. Both ends act as either a “hand” for the robot or the base from which it can operate.
Elbow Camera and Lighting Unit (CLU)
Extra Vehicular Activity handrail
Limb
Camera and Lighting Unit (CLU)
End Effector
PROJECT: International Space Station
TITLE: DOCUMENT N°: REV. ERA ESA-HSO-COU-007 2.0 ERASMUS Centre - Directorate of Human Spaceflight and Operations 4072 1228
Specifications Dimensions Total length: 11,300 mm Reach: 9,700 mm Tip position accuracy: 5 mm Maximum tip speed: 100 mm/s Mass budget Launch mass: 630 kg max. P/L handling capability: 8,000 kg Communications infrastructure Power, data and video signals cabling and special fixtures on End Effector and Base Point. Electrical power Average operation power: 475 W (120 V DC) Peak operation power: 800 W (120 V DC) Main construction materials Limb: Carbon fibre tube and Aluminium interfaces Wrist, Elbow and End Effector: Composed of many different materials 340 Thermal Protection: Beta Cloth Blankets Main contractor Dutch Space (Leiden, The Netherlands), leading a consortium of many subcontractors
SCALE : 1:20 348 PROJECT : International Space Station DIMENSIONS : mm TITLE : DOCUMENT N° : REV. European Robotic Arm EUC-ESA-FSH-008 1.1 ERASMUS User Centre and Communication Office Specifications
Dimensions Total length: 11,300 mm Reach: 9,700 mm Tip position accuracy: 5 mm Maximum tip speed: 100 mm/s Mass budget launch mass: 630 kg Max. P/L handling capability: 8,000 kg
Communications infrastructure Power, data and video signals cabling and special fixtures on End Effector and Base Point.
Electrical power Average operation power: 475 W (120 V DC) Peak operation power: 800 W (120 V DC) 4072 1228 Main construction materials Limb: Carbon fibre tube and Aluminium interfaces Wrist, Elbow and End Effector: Composed of many different materials Thermal Protection: Beta Cloth Blankets
Main contractor Dutch Space (Leiden, The Netherlands), leading a consortium of many subcontractors
Specifications
Dimensions PROJECT: International Total length: 11,300 mm Reach: 9,700 mm Space Station Tip position accuracy: 5 mm Maximum tip speed: 100 mm/s TITLE: DOCUMENT N°: REV. Mass budget ERA Launch mass: 630 kg ESA-HSO-COU-007 2.0 max. P/L handling capability: 8,000 kg Communications infrastructure Power, data and video signals cabling and special fixtures on End Effector and Base Point. Electrical power Average operation power: 475 W (120 V DC) Peak operation power: 800 W (120 V DC) Main construction materials Limb: Carbon fibre tube and Aluminium interfaces Wrist, Elbow and End Effector: Composed of many different materials 340 Thermal Protection: Beta Cloth Blankets Main contractor Dutch Space (Leiden, The Netherlands), leading a consortium of many subcontractors
SCALE : 1:20 348 PROJECT : International Space Station DIMENSIONS : mm TITLE : DOCUMENT N° : REV. European Robotic Arm EUC-ESA-FSH-008 1.1 ERASMUS User Centre and Communication Office Utilisation Relevant Data
Launch configuration CLU: Camera and Lighting Units (4) are provided • Launched in so called «Charlie Chaplin» configuration for proximity control and overviews with power off Launch vehicle: Proton IMMI: Intra Vehicular Activity Man Machine Launch site: Baikonur Interface via a laptop computer Launch date: 2012
EMMI: Extra Vehicular Activity Man Machine On-orbit configuration Interface via a control panel • Attached to different locations on the Russian Segment • Home base: Permanent Multipurpose Module (PMM) Control infrastructure • From the inside of the station with the IMMI via a Flight hardware laptop computer and the Control Post Computer • End Effector with electronics box (2) • From the outside of the station with the EMMI via a • Base Points (2 on launcher interface and multiple on ISS) control panel and the Control Post Computer • Wrist (comprising roll, yaw and pitch joints) with joint electronics (2)
Elbow
Joint Electronics
Base Point with alignment target Elbow Camera and Lighting Unit (CLU) End Effector 2 (EE) Central Control Computer
Wrist 2 Limb 2
Limb 1
Joint Electronics
EMMI IMMI Wrist 1 Pitch Joint Camera and Lighting Unit (CLU)
Yaw Joint Roll Joint
End Effector 1 (EE) Illustrations: ESA/D. Illustrations: Ducros ESA/D.
http://erasmus.spaceflight.esa.int