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The Shuttle Remote Manipulator System and Its Use in Orbital Operations

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The Shuttle Remote Manipulator System and Its Use in Orbital Operations The Space Congress® Proceedings 1983 (20th) Space: The Next Twenty Years Apr 1st, 8:00 AM The Shuttle Remote Manipulator System and Its Use in Orbital Operations Savi S. Sachdev Manager, Systems, Controls and Analysis Engineering, RMS Division, Spar Aerospace Limited, Toronto, Canada Brian R. Fuller Manager, RMS Marketing, RMS Division, Spar Aerospace Limited, Toronto, Canada Follow this and additional works at: https://commons.erau.edu/space-congress-proceedings Scholarly Commons Citation Sachdev, Savi S. and Fuller, Brian R., "The Shuttle Remote Manipulator System and Its Use in Orbital Operations" (1983). The Space Congress® Proceedings. 3. https://commons.erau.edu/space-congress-proceedings/proceedings-1983-20th/session-ic/3 This Event is brought to you for free and open access by the Conferences at Scholarly Commons. It has been accepted for inclusion in The Space Congress® Proceedings by an authorized administrator of Scholarly Commons. For more information, please contact [email protected]. THE SHUTTLE REMOTE MANIPULATOR SYSTEM AND ITS USE IN ORBITAL OPERATIONS Savi S. Sachdev Manager, Systems, Controls and Analysis Engineering RMS Division, Spar Aerospace Limited Toronto, Canada Brian R. Fuller Manager, RMS Marketing RMS Division, Spar Aerospace Limited Toronto, Canada ABSTRACT handle payloads in space. It has been successfully flight tested during STS-2, 3 The Shuttle Remote Manipulator System (RMS) and 4 and declared operationally ready having has been successfully flight tested during been flight qualified for light payloads with STS-2, 3 and 4 and declared operational. It extrapolation by simulations for larger has been flight qualified for light payloads payloads. Testing of the RMS will continue with extrapolation by simulations for larger with STS-7 when it will be used to deploy, payloads. Testing of the RMS will continue manoeuvre, release, retrieve and berth the with STS-7 and STS-11 and the RMS will see SPAS-01. Further flight testing will occur operational usage during the deployment of with the Payload Test Article (PFTA) on the Long Duration Exposure Facility (LDEF) STS-11 and the RMS will see operational usage and the Solar Max Mission (SMM) retrieval and during the Solar Max Mission (SMM) retrieval repair on STS-13. This paper, includes a and repair on STS-13. This mission will also description of the RMS and the STS-2 to STS-4 feature the deployment and release of the Flight Tests. Long Duration Exposure Facility (LDEF). This paper includes a description of the RMS and The RMS, in addition to handling payloads can the STS-2 to STS-4 Flight Tests. perform other orbital operations such as inspection, construction and satellite The RMS, in addition to its usefulness in servicing. This paper describes various end handling payloads has the capability of per­ of arm tool concepts being developed by Spar, forming other critical tasks such as inspec­ which could augment the basic RMS's tion, construction and satellite servicing. capability thereby increasing its versa­ This paper describes various end of arm tool tility. A possible four phase program for concepts being developed by Spar, which could implementation of a tool system is described augment the RMS 1 capability enabling it to which includes enhancement of the operators perform functions such as pushing/holding feel using force/moment sensing. (applying pressure), prying, clamping (non- impulse release) and shearing. A tool for In order to perform tasks such as construc­ satellite servicing called the Universal tion and satellite servicing on the Orbiter Service Tool (UST) is also described. A in the future, the need for a Handling and method of augmenting the operator's 'feel' Positioning Aid (HPA) is being considered. for the job by force/moment sensing is This device will essentially be a holding included. A possible four phase program, device or a "work-bench vice" on which the which includes flight testing, for implemen­ payload will be placed by the RMS and tation of the tool system is described. serviced either by an EVA astronaut or by the RMS or by a combination. A simple, cost- In order to perform satellite servicing on effective design of the HPA derived entirely the Orbiter in the future, the need for a from existing space qualified elements of the Handling and Positioning Aid (HPA) is being RMS is presented in this paper. considered. This device will essentially be a holding device or a "work-bench vice" on INTRODUCTION which the payload to be serviced will be placed by the RMS and be serviced either by The Shuttle Remote Manipulator System (RMS) an EVA astronaut or by the RMS or by a combi­ is a key element in the Space Transportation nation. A simple, cost-effective design of System's ability to deploy, retrieve and the HPA is presented in this paper. This IC-29 design is derived entirely from existing within the Orbiter cabin. The MCIU supplies space qualified elements of the RMS. It is the data interface between the D&C system, essentially a shorter, stiffer version of the RMS software in the GPC and manipulator arm. RMS using RMS shoulder joints for its degrees of freedom and is mounted on the Orbiter f s The RMS is a man-in-the-loop system, the ope­ starboard longeron. Simple joint by joint rator forming an integral part of the control control using existing RMS controls and dis­ and monitoring system. Operator interaction plays is featured. The RMS end effector is and control, are effected by means of the proposed as a docking device with a capa­ following: bility of interchanging docking devices if necessary. (a.) Translational and Rotational Hand Controllers (THC, RHC) for manual aug­ THE SHUTTLE REMOTE MANIPULATOR SYSTEM mented mode operation, which provide end effector translational and rotational The RMS is an anthropomorphic man/machine velocity commands to the control algori­ system with a six degree-of-freedom 50 ft. thms within the RMS software resident in long manipulator arm for use on the shuttle the orbiter GPC. orbiter in deploying, manipulating and retri­ eving a wide range of payloads in space (b) The Display and Controls (D&C) and elec­ (Figure 1). tronics, which provides arm status data to the operator and allows secondary The RMS is operated in both automatic and control functions to be performed. manual modes from the aft port window loca­ tion of the orbiter crew compartment by a (c) The mission keyboard, which provides mission specialist using dedicated RMS operator access to the orbiter GPC. controls and with the aid of direct viewing and closed circuit television. (d) A GPC CRT which presents detailed RMS status and health data to the operator. The manipulator arm mechanical assembly is attached to the orbiter longeron through a A primary source of composite arm position swingout mechanism which correctly positions and attitude data is the operator's own the arm for all on-orbit operations (Figure direct vision through the crew compartment 2). The arm comprises a series of six joints aft bulkhead and overhead windows, augmented connected by structural members; shoulder by CCTV views from the arm and payload bay- yaw, shoulder pitch, elbow pitch, wrist mounted camera. pitch, wrist yaw and wrist roll. Each joint of the manipulator arm is driven by a servo The RMS may be controlled in the following mechanism whose output, provided by a brush- control modes to provide varied control less DC motor is transmitted to the arm via a tailored to the operational task or activity high resolution planetary gearbox. The arm and to provide failsafe arm capability. booms are made of graphite/epoxy thin walled tubular sections with internal stabilization (a) Manual Augmented Mode, rings. (b) Automatic Mode, (c) Single Joint Mode, A standard end effector is attached to the (d) Direct Drive Mode, wrist for grappling and applying loads or (e) Backup Drive Mode. motions to the payload or for releasing pay- loads into orbit. Mounted at the wrist roll The Manual Augmented Mode of control enables and elbow joints are CCTV the operator to direct the end- point of, the cameras. These cameras, together manipulator arm (or point of resolution, POR, with controllable cameras in the Shuttle in the payload) using the two three degrees- Orbiter cargo bay, provide specific and of-freedom hand controllers to provide end selectable views for the operator via the effector (or payload) translation and rota­ television monitors mounted in the RMS opera­ tion rate demands. The control algorithms in ting station in the crew compartment. In the GPC process the hand controller signals particular, the wrist CCTV, in conjunction into a rate demand for each joint of the with a target on the grapple fixture, provi­ system. des visual alignment cues in "docking" the end effector with the grapple fixture during There are four Manual Augmented control oper­ payload capture. ating modes available to the operator which are selectable via a mode switch on the D&C The manipulator arm is controlled from a panel. Each mode provides control for a Display and Controls (D&C) system using RMS different combination of the point of resolu­ software resident in the Orbiter General tion, payload and command coordinate systems. Purpose Computer (GPC) through a Manipulator Controller Interface Unit (MCIU), all mounted The Automatic Mode of control either enables IC-30 the operator to move the manipulator arm RMS. The Flight Test Objectives (FTO's) pla­ using the mission-keyboard entered end point nned for this mission involved demonstrating command or allows a pre-programmed auto that all aspects of the arm in an unloaded sequence* Any four pre-programmed automatic condition operate within design parameters. trajectories, out of a total of twenty loaded in software, may be selected directly from The STS-3 mission was launched four months the D&C panel.
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