International External Robotic Interface Interoperability Standards (IERIIS) Baseline – March 2019 Baseline REVISION AND HISTORY PUB. REV. DESCRIPTION DATE - Baseline XX-XX-XX Baseline PREFACE INTERNATIONAL EXTERNAL ROBOTIC INTERFACE INTEROPERABILITY STANDARDS (IERIIS) This International External Robotic Interface Interoperability Standards (IERIIS) establishes a set of standard common mounting interfaces to enable on-orbit robotic operations and collaborative endeavors utilizing different robotic compatible spacecraft or equipment in deep space. Configuration control of this document is the responsibility of the Multilateral Coordination Board (MCB). The National Aeronautics and Space Administration (NASA) will maintain the IERIIS under Human Exploration and Operations Mission Directorate (HEOMD) Configuration Management. Any revisions to this document will be approved by the MCB. i Baseline INTERNATIONAL EXTERNAL ROBOTIC INTERFACE INTEROPERABILITY STANDARDS (IERIIS) CONCURRENCE MARCH 2019 /s/ William H. Gerstenmaier 23 May 2019 Associate Administrator for Human Exploration and Date Operations National Aeronautics and Space Administration Signature Pending Executive Director of Human Space Programs Date State Space Corporation Roscosmos /s/ David Parker 4 July 2019 Director of Human and Robotic Exploration Date European Space Agency /s/ Gilles Leclerc 2019.07.10 Director General, Space Exploration Date Canadian Space Agency /s/ Ryuichiro Shirama 19 July 2019 Deputy Director General Date Research and Development Bureau Ministry of Education, Culture, Sports, Science, and Technology ii Baseline TABLE OF CONTENTS PARAGRAPH PAGE 1.0 INTRODUCTION ................................................................................................................... 1-1 1.1 PURPOSE AND SCOPE ....................................................................................................... 1-1 1.2 RESPONSIBILITY AND CHANGE AUTHORITY ................................................................... 1-1 2.0 DOCUMENTS ....................................................................................................................... 2-1 2.1 APPLICABLE DOCUMENTS................................................................................................. 2-1 2.2 REFERENCE DOCUMENTS ................................................................................................ 2-1 3.0 INTERNATIONAL EXTERNAL ROBOTIC INTERFACE INTEROPERABILITY STANDARDS ........................................................................................................................ 3-1 3.1 GENERAL ............................................................................................................................. 3-1 3.1.1 DESCRIPTION ...................................................................................................................... 3-1 3.1.2 COMMON MOUNTING INTERFACE PLANES ..................................................................... 3-2 3.1.2.1 LARGE FIXTURE INTERFACE ............................................................................................. 3-2 3.1.2.2 SMALL ORU PLATFORM INTERFACES .............................................................................. 3-3 3.1.2.3 LARGE ORU PLATFORM INTERFACE ................................................................................ 3-4 3.1.2.4 DEXTEROUS FIXTURE INTERFACE ................................................................................... 3-4 3.1.2.5 SMALL ORU DIRECT INTERFACE ...................................................................................... 3-5 3.1.2.6 IERIIS ROADMAP ................................................................................................................. 3-6 3.1.2.7 INTERFACE SUMMARY ....................................................................................................... 3-7 3.1.3 STANDARD OPERATIONS REFERENCE FRAMES ........................................................... 3-7 3.1.4 ENGINEERING UNITS OF MEASURE ................................................................................. 3-9 4.0 LARGE FIXTURE INTERFACE ............................................................................................. 4-1 4.1 GENERAL ............................................................................................................................. 4-1 4.1.1 COMMON INTERFACE FUNCTIONS ................................................................................... 4-1 4.2 COMMON REQUIREMENTS ................................................................................................ 4-1 4.2.1 COORDINATE SYSTEMS..................................................................................................... 4-1 4.2.2 ENVELOPES ......................................................................................................................... 4-3 4.2.2.1 FIXTURE ENVELOPE ........................................................................................................... 4-3 4.2.2.2 CLEARANCE APPROACH ENVELOPE ............................................................................... 4-4 4.2.3 MECHANICAL INTERFACE .................................................................................................. 4-5 4.2.3.1 MOUNTING BOLT HOLE PATTERNS .................................................................................. 4-5 4.2.3.2 MOUNTING FASTENERS..................................................................................................... 4-5 4.2.4 STRUCTURAL INTERFACE ................................................................................................. 4-6 4.2.4.1 MOUNTING INTERFACE LOADS ......................................................................................... 4-6 4.2.4.2 MOUNTING INTERFACE STIFFNESS ................................................................................. 4-7 4.2.4.2.1 MANIPULATOR BASE MOUNTING INTERFACE STIFFNESS ............................................ 4-7 4.2.4.2.2 MANIPULATOR PAYLOAD MOUNTING INTERFACE STIFFNESS .................................... 4-7 4.2.5 ELECTRICAL INTERFACE ................................................................................................... 4-8 4.3 VERIFICATION ..................................................................................................................... 4-8 4.3.1 PLACEHOLDER FOR FUTURE VERIFICATION GUIDELINE CONTENT ........................... 4-8 5.0 SMALL ORU PLATFORM INTERFACE ................................................................................ 5-1 5.1 GENERAL ............................................................................................................................. 5-1 5.1.1 COMMON INTERFACE DESCRIPTION ............................................................................... 5-1 iii Baseline 5.1.2 COMMON INTERFACE FUNCTIONS ................................................................................... 5-1 5.2 COMMON REQUIREMENTS, ORU TO SMALL PLATFORM INTERFACE .......................... 5-2 5.2.1 COORDINATE SYSTEMS..................................................................................................... 5-2 5.2.2 ENVELOPES ......................................................................................................................... 5-3 5.2.3 MECHANICAL INTERFACE .................................................................................................. 5-3 5.2.3.1 ORU MOUNTING BOLT HOLE PATTERNS ......................................................................... 5-3 5.2.4 STRUCTURAL INTERFACE ................................................................................................. 5-4 5.2.4.1 PAYLOAD MASS CAPACITIES ............................................................................................ 5-4 5.2.4.2 MOUNTING INTERFACE LOADS ......................................................................................... 5-4 5.2.5 ELECTRICAL INTERFACE ................................................................................................... 5-5 5.2.5.1 ELECTRICAL CONNECTOR ................................................................................................ 5-5 5.2.6 POWER, DATA AND VIDEO INTERFACE............................................................................ 5-5 5.2.7 ELECTROMAGNETIC ENVIRONMENTS ............................................................................. 5-6 5.2.7.1 ELECTROMAGNETIC COMPATIBILITY .............................................................................. 5-6 5.2.7.2 BONDING AND GROUNDING .............................................................................................. 5-6 5.3 VERIFICATION, ORU TO SMALL PLATFORM INTERFACE ............................................... 5-6 5.3.1 PLACEHOLDER FOR FUTURE VERIFICATION GUIDELINE CONTENT ........................... 5-6 5.4 COMMON REQUIREMENTS, VEHICLE/MODULE TO SMALL RECEPTACLE INTERFACE .......................................................................................................................... 5-6 5.4.1 COORDINATE SYSTEMS..................................................................................................... 5-6 5.4.2 ENVELOPES ......................................................................................................................... 5-7 5.4.3 MECHANICAL INTERFACE .................................................................................................. 5-8 5.4.3.1 MOUNTING BOLT HOLE PATTERNS .................................................................................