Mobile Servicing System
Encyclopedia
Robot
A robot is a mechanical or virtual intelligent agent that can perform tasks automatically or with guidance, typically by remote control. In practice a robot is usually an electro-mechanical machine that is guided by computer and electronic programming. Robots can be autonomous, semi-autonomous or...
ic system and associated equipment on the International Space Station
International Space Station
The International Space Station is a habitable, artificial satellite in low Earth orbit. The ISS follows the Salyut, Almaz, Cosmos, Skylab, and Mir space stations, as the 11th space station launched, not including the Genesis I and II prototypes...
(ISS). Launched to the ISS in 2001, it plays a key role in station assembly and maintenance; it moves equipment and supplies around the station, supports astronauts working in space, and services instruments and other payloads attached to the ISS. Astronauts receive specialized training to enable them to perform these functions with the MSS' various systems.
The MSS is composed of the actual arm called Space Station Remote Manipulator System (SSRMS), the Mobile Remote Servicer Base System (MBS) and the Special Purpose Dexterous Manipulator (SPDM also known as Dextre or Canada hand). The system can move along rails on the Integrated Truss Structure
Integrated Truss Structure
the Integrated Truss Structure forms the backbone of the International Space Station, with mountings for unpressurized logistics carriers, radiators, solar arrays, and other equipment.-History:...
on top of the US provided Mobile Transporter cart which hosts the MRS Base System. The system's control software was written in the Ada 95 programming language
Ada (programming language)
Ada is a structured, statically typed, imperative, wide-spectrum, and object-oriented high-level computer programming language, extended from Pascal and other languages...
.
The MSS was designed and manufactured by MDA Space Missions
MDA Space Missions
MDA Space Missions is an operating unit of MacDonald Dettwiler and Associates, comprising the following wholly owned subsidiaries:* Alliance Spacesystems, a space robotics company based in Pasadena, California, Boulder, Colorado and Signal Hill, California....
(previously called MD Robotics; previously called SPAR Aerospace) for the Canadian Space Agency's contribution to the International Space Station.
Canadarm2
STS-100
STS-100 was a Space Shuttle mission to the International Space Station flown by Space Shuttle Endeavour. STS-100 installed the ISS Canadarm2 robotic arm.- Crew :- Mission parameters :* Mass:** Orbiter liftoff:...
in April 2001, this next generation Canadarm is a larger, more advanced version of the space shuttle
Space Shuttle
The Space Shuttle was a manned orbital rocket and spacecraft system operated by NASA on 135 missions from 1981 to 2011. The system combined rocket launch, orbital spacecraft, and re-entry spaceplane with modular add-ons...
's original Canadarm. Canadarm2 is 17.6 meters (57.7 ft) long when fully extended and has seven motorized joints. It has a mass of 1,800 kilograms (4,000 lb) and a diameter of 35 cm (13¾ in). The arm is capable of handling large payloads of up to 116,000 kg (256,000 lb) and was able to assist with docking the space shuttle. Officially known as the Space Station Remote Manipulator System (SSRMS), it is self-relocatable and can move end-over-end to reach many parts of the Space Station in an inchworm-like movement. In this movement, it is limited only by the number of Power Data Grapple Fixture
Power Data Grapple Fixture
A Power Data Grapple Fixture is a connection fixture used on the International Space Station . PDGFs can be "grappled" by the Canadarm2 robotic arm, in order to allow Canadarm2 to manipulate a grappled object, or be controlled by operators based inside the ISS.The Canadarm2 is self-relocatable and...
s (PDGFs) on the station. PDGFs located around the station provide power, data and video to the arm through its Latching End Effectors (LEEs). The arm can also travel the entire length of the space station truss using the Mobile Base System.
Most of the time the arm operators see what they are doing by looking at the three Robotic Work Station (RWS) LCD screens. The MSS has two RWS units: one located in the Destiny module (US Lab module) and the other in the Cupola. Only one RWS controls the MSS at a time. The RWS has two sets of control joysticks: one Rotational Hand Controller (RHC) and one Translational Hand Controller (THC). In additional to this is the Display and Control Panel (DCP) and the Portable Computer System (PCS) laptop.
Mobile Base System
STS-111
STS-111 was a space shuttle mission to the International Space Station flown by Space Shuttle Endeavour. STS-111 resupplied the station and replaced the Expedition 4 crew with the Expedition 5 crew...
in June 2002. The platform rests atop the Mobile Transporter (installed during STS-110
STS-110
STS-110 was a Space Shuttle mission to the International Space Station on 8–19 April 2002 flown by Space Shuttle Atlantis. The main purpose was to install the S0 Truss segment, which forms the backbone of the truss structure on the station.- Crew :...
) which allows it to glide down rails on the station's trusses. When Canadarm2 is attached to the MBS, it has the ability to travel to work sites all along the truss structure. The top speed of the Mobile Transporter is about 2.5 cm per second. The proper and complete name of the MBS is the "MRS Base System", where MRS stands for "Mobile Remote Servicer". It is made out of aluminum and is expected to last at least 15 years. Like Canadarm2 it was built by MD Robotics.
The MBS is equipped with 4 Power Data Grapple Fixture
Power Data Grapple Fixture
A Power Data Grapple Fixture is a connection fixture used on the International Space Station . PDGFs can be "grappled" by the Canadarm2 robotic arm, in order to allow Canadarm2 to manipulate a grappled object, or be controlled by operators based inside the ISS.The Canadarm2 is self-relocatable and...
s, one at each of its four top corners. Either of these can be used as a base for the two robots, Canadarm2 and Dextre, as well as any of the payloads that might be held by the robots. The MBS also has 2 locations to attach payloads. The first is the Payload/Orbital Replacement Unit Accommodations (POA). This is a device that looks and functions much like the Latching End Effectors of Canadarm2. It can be used to park, power and command any payload with a grapple fixture, while keeping Canadarm2 free to do something else. The other attachment location is the MBS Common Attachment System (MCAS). This is another type of attachment system that will primarily be used to host a number of scientific experiments.
The MBS also supports astronauts during Extra-vehicular activity
Extra-vehicular activity
Extra-vehicular activity is work done by an astronaut away from the Earth, and outside of a spacecraft. The term most commonly applies to an EVA made outside a craft orbiting Earth , but also applies to an EVA made on the surface of the Moon...
. It has locations to store tools and equipment, foot-restraints, handrails and safety tether attachment points as well as a camera assembly. If needed, it is even possible for an astronaut to "ride" the MBS while it moves along the truss rails.
Special Purpose Dexterous Manipulator
The Special Purpose Dexterous ManipulatorSpecial Purpose Dexterous Manipulator
Dextre, also known as the Special Purpose Dexterous Manipulator , is a two armed robot, or telemanipulator, which is part of the Mobile Servicing System on the International Space Station , and extends the function of this system to replace some activities otherwise requiring spacewalks...
, or Canada Hand (a.k.a. "Dextre"), is a smaller two-armed robot capable of handling the delicate assembly tasks currently handled by astronauts during space walks. Testing was done in the space simulation chambers of the Canadian Space Agency's David Florida Laboratory
David Florida Laboratory
The David Florida Laboratory is the Canadian Space Agency's spacecraft assembly, integration and testing centre, in Shirleys Bay, just west of Ottawa...
in Ottawa
Ottawa
Ottawa is the capital of Canada, the second largest city in the Province of Ontario, and the fourth largest city in the country. The city is located on the south bank of the Ottawa River in the eastern portion of Southern Ontario...
. The manipulator was launched to the station 11 March 2008 on STS-123
STS-123
-Mission parameters:* Mass:* Orbiter liftoff: * Orbiter landing: * Perigee: 336 kilometers * Apogee: 346 kilometers * Inclination: 51.6 degrees* Period: 91.6min-Mission payloads:...
.
Other ISS robotics
The station received a second robotic arm during STS-124STS-124
STS-124 was a Space Shuttle mission, flown by Space Shuttle Discovery to the International Space Station. Discovery launched on 31 May 2008 at 17:02 EDT, moved from an earlier scheduled launch date of 25 May 2008, and landed safely at the Kennedy Space Center's Shuttle Landing Facility, at 11:15...
, the Japanese Experiment Module
Japanese Experiment Module
The Japanese Experiment Module , also known with the nickname , is a Japanese science module for the International Space Station developed by JAXA. It is the largest single ISS module. The first two pieces of the module were launched on space shuttle missions STS-123 and STS-124...
Remote Manipulator System (JEM-RMS). The JEM-RMS will be primarily used to service the JEM Exposed Facility
Japanese Experiment Module
The Japanese Experiment Module , also known with the nickname , is a Japanese science module for the International Space Station developed by JAXA. It is the largest single ISS module. The first two pieces of the module were launched on space shuttle missions STS-123 and STS-124...
. A third robotic arm, the European Robotic Arm
European Robotic Arm
The European Robotic Arm is a robotic arm to be attached to the Russian Segment of the International Space Station. It will be the first robot arm able to work on the Russian space station segments, and will supplement the two Russian Strela cargo cranes that are already installed on the Pirs...
(ERA) is scheduled to launch alongside the Russian-built Multipurpose Laboratory Module
Multipurpose Laboratory Module
Nauka , also known as the Multipurpose Laboratory Module , , will be a component of the International Space Station , funded by the Russian Federal Space Agency. In the original ISS plans, Nauka was to use the location of the Docking and Stowage Module...
during December 2011.
Connected to Pirs, the ISS also has two Strela
Strela (crane)
The Strela cranes are four cargo cranes used to move cosmonauts and components around the exterior of the Soviet/Russian space station Mir and the Russian Orbital Segment of the International Space Station...
cargo cranes. One of the cranes can be extended to reach the end of Zarya
Zarya
Zarya , also known as the Functional Cargo Block or FGB , was the first module of the International Space Station to be launched. The FGB provided electrical power, storage, propulsion, and guidance to the ISS during the initial stage of assembly...
. The other can extend to the opposite site and reach the end of Zvezda. The first crane was assembled in space during STS-96
STS-96
STS-96 was a Space Shuttle mission to the International Space Station flown by Space Shuttle Discovery, and the first shuttle flight to dock with the International Space Station. The shuttle carried the Spacehab module in the payload, filled with cargo for station outfitting...
and STS-101
STS-101
-Mission parameters:* Mass:** Orbiter landing with payload: ** Payload: * Perigee: * Apogee: * Inclination: 51.6°* Period: 91 min-Space walks:* Voss and Williams – EVA 1...
. The second crane was launched alongside Pirs itself.
See also
- Canadarm
- Dextre
- European Robotic ArmEuropean Robotic ArmThe European Robotic Arm is a robotic arm to be attached to the Russian Segment of the International Space Station. It will be the first robot arm able to work on the Russian space station segments, and will supplement the two Russian Strela cargo cranes that are already installed on the Pirs...
, a second robotic arm to be installed on the ISS - MacDonald Dettwiler and Associates (MDA)MacDonald DettwilerMacDonald, Dettwiler and Associates Ltd. is a Richmond, British Columbia-based Canadian aerospace, information services and products company, employing over 3000 people throughout Canada, the United States and the United Kingdom, under the MDA brand name....
, the makers of Canadarm2 - Space Shuttle programSpace Shuttle programNASA's Space Shuttle program, officially called Space Transportation System , was the United States government's manned launch vehicle program from 1981 to 2011...