Canadarm

Last updated

Shuttle Remote Manipulator System
Canadarm 1 - STS-72.jpg
Canadarm (right) during Space Shuttle mission STS-72
Operator NASA
Manufacturer Spar Aerospace
Instrument type robotic arm
Website www.asc-csa.gc.ca/eng/canadarm/default.asp
Properties
Mass
  • Arm: 410 kg (900 lb)
  • Total: 450 kg (990 lb)
Dimensions1,520 cm × 38 cm (598 in × 15 in)
Number launched5
Host spacecraft
Spacecraft Space Shuttle
Operator NASA
Launch site Kennedy LC-39

Canadarm or Canadarm1 (officially Shuttle Remote Manipulator System or SRMS, also SSRMS) is a series of robotic arms that were used on the Space Shuttle orbiters to deploy, manoeuvre, and capture payloads. After the Space Shuttle Columbia disaster, the Canadarm was always paired with the Orbiter Boom Sensor System (OBSS), which was used to inspect the exterior of the shuttle for damage to the thermal protection system.

Contents

Development

Life-size replica of the Canadarm at the Euro Space Center in Belgium Life Size replica of the Canadarm.jpg
Life-size replica of the Canadarm at the Euro Space Center in Belgium

In 1969, Canada is invited by the National Aeronautics and Space Administration (NASA) to participate in the Space Shuttle program. [1] At the time what that participation would entail had not yet been decided but a manipulator system was identified as an important component. [1] Canadian company DSMA ATCON had developed a robot to load fuel into CANDU nuclear reactors; this robot attracted NASA's attention. [1] In 1975, NASA and the Canadian National Research Council (NRC) signed a memorandum of understanding that Canada would develop and construct the Canadarm. [2]

NRC awarded the manipulator contract to Spar Aerospace (now MDA). [3] Three systems were constructed within this design, development, test, and evaluation contract: an engineering model to assist in the design and testing of the Canadarm, a qualification model that was subjected to environmental testing to qualify the design for use in space, and a flight unit.

End effector

Anthony "Tony" Zubrzycki, a design engineer at DSMA ATCON, [4] while seconded to SPAR, originated the concept for the Canadarm End Effector, inspired by an elastic band around his fingers. [4] Zubrzycki formally presented this concept to NASA officials. [4] Frank Mee, head of the SPAR mechanical development laboratory, built the end effector prototype based on Tony's concept and is credited by SPAR [4] as the inventor of the Canadarm End Effector. The three-wire crossover design won over the claw-like mechanisms and others, such as the camera iris model, [4] that were being considered.

Controls and software

The main control algorithms were developed by SPAR and by subcontractor Dynacon Inc. of Toronto. CAE Electronics Ltd. in Montreal provided the display and control panel and the hand controllers located in the Shuttle aft flight deck. Other electronic interfaces, servo amplifiers, and power conditioners located on the Canadarm were designed and built by SPAR at its Montreal factory. The graphite composite boom that provides the structural connection between the shoulder and the elbow joint and the similar boom that connects the elbow to the wrist were produced by General Dynamics in the United States. Dilworth, Secord, Meagher and Associates, Ltd. in Toronto was contracted to produce the engineering model end effector then SPAR evolved the design and produced the qualification and flight units. The Space Shuttle flight software that monitors and controls the Canadarm was developed in Houston, Texas, by the Federal Systems Division of IBM. Rockwell International's Space Transportation Systems Division designed, developed, tested, and built the systems used to attach the Canadarm to the payload bay of the orbiter.

An acceptance ceremony for NASA was held at Spar's RMS Division in Toronto on 11 February 1981. [1] Here Larkin Kerwin, then the head of the NRC, gave the SRMS the informal name, Canadarm. The term was originally coined by Dr. Wally Cherwinski for use by Larkin Kerwin during his speech at the press conference. . [1] The NRC Canadarm Project Manager, Dr. Art Hunter, worked with colleagues, NASA and Spar, to add the canadian flag and wordmark onto the arm to fly Canadian colours with those of the USA.


The first Canadarm was delivered to NASA in April 1981. [5] Astronaut Judith Resnik developed the NASA software and onboard operating procedures for the system. [6] In all, five arms – Nos. 201, 202, 301, 302, and 303 – were built and delivered to NASA. Arm 302 was lost in the Challenger accident. [7]

Design and capabilities

Story Musgrave, anchored on the end of the Canadarm, prepares to be elevated to the top of the Hubble Space Telescope during STS-61. Hubble First Servicing EVA - GPN-2000-001085.jpg
Story Musgrave, anchored on the end of the Canadarm, prepares to be elevated to the top of the Hubble Space Telescope during STS-61.

The original Canadarm was capable of deploying payloads weighing up to 65,000 pounds (29,000 kg) in space. [8] In the mid-1990s, the arm control system was redesigned to increase the payload capability to 586,000 pounds (266,000 kg) in order to support space station assembly operations. [9] While able to maneuver payloads with the mass of a loaded bus in space, the arm motors cannot lift the arm's own weight when on the ground. [3] NASA, therefore, developed a model of the arm for use at its training facility within the Johnson Space Center located in Houston, Texas. The Canadarm can also retrieve, repair and deploy satellites, provide a mobile extension ladder for extravehicular activity crew members for work stations or foot restraints, and be used as an inspection aid to allow the flight crew members to view the orbiter's or payload's surfaces through a television camera on the Canadarm.

The basic Canadarm configuration consists of a manipulator arm, a Canadarm display, and a control panel, including rotational and translational hand controllers at the orbiter aft flight deck flight crew station, and a manipulator controller interface unit that interfaces with the orbiter computer. One crew member operates the Canadarm from the aft flight deck control station, and a second crew member usually assists with television camera operations. This allows the Canadarm operator to view Canadarm operations through the aft flight deck payload and overhead windows and through the closed-circuit television monitors at the aft flight deck station.

The Canadarm is outfitted with an explosive-based mechanism to allow the arm to be jettisoned. This safety system would have allowed the Orbiter's payload bay doors to be closed in the event that the arm failed in an extended position and was not able to be retracted. [3]

The Canadarm is 15.2 metres (50 ft) long and 38 centimetres (15 in) diameter with six degrees of freedom. It weighs 410 kilograms (900 lb) by itself, and 450 kilograms (990 lb) as part of the total system. The Canadarm has six joints that correspond roughly to the joints of the human arm, with shoulder yaw and pitch joints, an elbow pitch joint, and wrist pitch, yaw, and roll joints. [10] The end effector is the unit at the end of the wrist that grapples the payload's grapple fixture. The two lightweight boom segments are called the upper and lower arms. The upper boom connects the shoulder and elbow joints, and the lower boom connects the elbow and wrist joints. [11] [10]

Service history

Peter J.K. Wisoff on the end of the arm, 1993 STS057-89-067 - Wisoff on the Arm (Retouched).jpg
Peter J.K. Wisoff on the end of the arm, 1993
The Canadarm2 moves toward a P5 truss section, being held by Discovery's Canadarm, in preparation for a hand-off during STS-116. STS-116 - P5 Truss hand-off to ISS (NASA S116-E-05765).jpg
The Canadarm2 moves toward a P5 truss section, being held by Discovery's Canadarm, in preparation for a hand-off during STS-116.

A simulated Canadarm installed on the Space Shuttle Enterprise was seen when the prototype orbiter's payload bay doors were open to test hangar facilities early in the Space Shuttle program. [12] The Canadarm was first tested in orbit in 1981, on Space Shuttle Columbia's STS-2 mission. Its first operational use was on STS-3 to deploy and manoeuvre the Plasma Diagnostics Package. [7] Canadarm subsequently flew on more than 90 missions with all five orbiters.

Since the installation of the Canadarm2 on the International Space Station (ISS), the two arms have been used to hand over segments of the station for assembly from the orbiter's Canadarm to the Canadarm2; the use of both elements in tandem has earned the nickname of "Canadian Handshake" in the media. [13]

Retirement

The Canadarm's 90th and final Shuttle mission was in July 2011 on STS-135, delivering the Raffaello MPLM to the ISS and back. It is on display with Atlantis at the Kennedy Space Center Visitor Complex. Discovery's Canadarm is displayed next to it in the National Air and Space Museum's Udvar-Hazy Center. [14] Endeavour left its OBSS at the International Space Station as part of its final mission, while its Canadarm was originally going to be displayed in the headquarters of the Canadian Space Agency (CSA). [14] However, Endeavour's Canadarm is now on permanent display at the Canada Aviation and Space Museum in Ottawa. [15] [16] [17] The last of the Canadarms to fly in space, the SRMS flown aboard Atlantis on STS-135 in July 2011, was shipped to NASA's Johnson Space Center in Houston for engineering study and possible reuse on a future mission. [18]

Derivatives

Canadarm2

Based on the Canadarm1, the larger Canadarm2 is used for berthing the trusses, berthing the commercial vehicles, and inspecting the whole International Space Station.

Canadarm3

The smaller Canadarm3 will be used for berthing the modules and inspecting the Lunar Gateway. [19]

See also

Related Research Articles

Space Shuttle <i>Endeavour</i> Space Shuttle orbiter

Space Shuttle Endeavour is a retired orbiter from NASA's Space Shuttle program and the fifth and final operational Shuttle built. It embarked on its first mission, STS-49, in May 1992 and its 25th and final mission, STS-134, in May 2011. STS-134 was expected to be the final mission of the Space Shuttle program, but with the authorization of STS-135 by the United States Congress, Atlantis became the last shuttle to fly.

<span class="mw-page-title-main">Mobile Servicing System</span> Robotic system on board the International Space Station

The Mobile Servicing System (MSS), is a robotic system on board the International Space Station (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 and is used for external maintenance. Astronauts receive specialized training to enable them to perform these functions with the various systems of the MSS.

<span class="mw-page-title-main">STS-88</span> First Space Shuttle mission to the International Space Station

STS-88 was the first Space Shuttle mission to the International Space Station (ISS). It was flown by Space Shuttle Endeavour, and took the first American module, the Unity node, to the station.

<span class="mw-page-title-main">STS-100</span> 2001 American crewed spaceflight to the ISS

STS-100 was a Space Shuttle mission to the International Space Station (ISS) flown by Space Shuttle Endeavour. STS-100 launch on 19 April 2001, and installed the ISS Canadarm2 robotic arm.

<i>Cupola</i> (ISS module) Observation module of the International Space Station

The Cupola is an ESA-built observatory module of the International Space Station (ISS). Its name derives from the Italian word cupola, which means "dome". Its seven windows are used to conduct experiments, dockings and observations of Earth. It was launched aboard Space Shuttle Endeavour's mission STS-130 on 8 February 2010, and attached to the Tranquility module. With the Cupola attached, ISS assembly reached 85 percent completion. The Cupola's central window has a diameter of 80 cm (31 in).

<span class="mw-page-title-main">STS-115</span> 2006 American crewed spaceflight to the ISS

STS-115 was a Space Shuttle mission to the International Space Station (ISS) flown by Space ShuttleAtlantis. It was the first assembly mission to the ISS after the Columbia disaster, following the two successful Return to Flight missions, STS-114 and STS-121. STS-115 launched from LC-39B at the Kennedy Space Center on September 9, 2006, at 11:14:55 EDT.

<span class="mw-page-title-main">Dextre</span> Robotic arm on ISS

Dextre, also known as the Special Purpose Dexterous Manipulator (SPDM), is a two-armed robot, or telemanipulator, which is part of the Mobile Servicing System on the International Space Station (ISS), and does repairs that would otherwise require astronauts to do spacewalks. It was launched on March 11, 2008, on the mission STS-123.

<span class="mw-page-title-main">European Robotic Arm</span> Robotic arm installed on the ISS Russian Segment

The European Robotic Arm (ERA) is a robotic arm that is attached to the Russian Orbital Segment (ROS) of the International Space Station. Launched to the ISS in July 2021; it is the first robotic arm that is able to work on the Russian Segment of the station. The arm supplements the two Russian Strela cargo cranes that were originally installed on the Pirs module, but were later moved to the docking compartment Poisk and Zarya module.

<span class="mw-page-title-main">STS-117</span> 2007 American crewed spaceflight to the ISS

STS-117 was a Space Shuttle mission flown by Space Shuttle Atlantis, launched from pad 39A of the Kennedy Space Center on June 8, 2007. Atlantis lifted off from the launch pad at 19:38 EDT. Damage from a hail storm on February 26, 2007, had previously caused the launch to be postponed from an originally-planned launch date of March 15, 2007. The launch of STS-117 marked the 250th orbital human spaceflight. It was also the heaviest flight of the Space Shuttle.

<span class="mw-page-title-main">Orbiter Boom Sensor System</span>

The Orbiter Boom Sensor System (OBSS) was a 50-foot boom carried on board NASA's Space Shuttles. The boom was grappled by the Canadarm and served as an extension of the arm, doubling its length to a combined total of 100 feet. At the far end of the boom was an instrumentation package of cameras and lasers used to scan the leading edges of the wings, the nose cap, and the crew compartment after each lift-off and before each landing. If flight engineers suspected potential damage to other areas, as evidenced in imagery captured during lift-off or the rendezvous pitch maneuver, then additional regions could be scanned.

<span class="mw-page-title-main">STS-133</span> 2011 American crewed spaceflight to the ISS and final flight of Space Shuttle Discovery

STS-133 was the 133rd mission in NASA's Space Shuttle program; during the mission, Space Shuttle Discovery docked with the International Space Station. It was Discovery's 39th and final mission. The mission launched on February 24, 2011, and landed on March 9, 2011. The crew consisted of six American astronauts, all of whom had been on prior spaceflights, headed by Commander Steven Lindsey. The crew joined the long-duration six person crew of Expedition 26, who were already aboard the space station. About a month before lift-off, one of the original crew members, Tim Kopra, was injured in a bicycle accident. He was replaced by Stephen Bowen.

<span class="mw-page-title-main">STS-123</span> 2008 American crewed spaceflight to the ISS

STS-123 was a Space Shuttle mission to the International Space Station (ISS) which was flown by Space Shuttle Endeavour. STS-123 was the 1J/A ISS assembly mission. The original launch target date was February 14, 2008, but after the delay of STS-122, the shuttle was launched on March 11, 2008. It was the twenty-fifth shuttle mission to visit the ISS, and delivered the first module of the Japanese laboratory, Japanese Experiment Module (Kibō), and the Canadian Special Purpose Dexterous Manipulator, (SPDM) Dextre robotics system to the station. The mission duration was 15 days and 18 hours, and it was the first mission to fully utilize the Station-to-Shuttle Power Transfer System (SSPTS), allowing space station power to augment the shuttle power systems. The mission set a record for a shuttle's longest stay at the ISS.

<span class="mw-page-title-main">STS-129</span> 2009 American crewed spaceflight to the ISS

STS-129 was a NASA Space Shuttle mission to the International Space Station (ISS). Atlantis was launched on November 16, 2009, at 14:28 EST, and landed at 09:44 EST on November 27, 2009, on runway 33 at the Kennedy Space Center's Shuttle Landing Facility. It was also the last Shuttle mission of the 2000s.

<span class="mw-page-title-main">STS-131</span> 2010 American crewed spaceflight to the ISS

STS-131 was a NASA Space Shuttle mission to the International Space Station (ISS). Space ShuttleDiscovery launched on April 5, 2010, at 6:21 am from LC-39A, and landed at 9:08 am on April 20, 2010, on runway 33 at the Kennedy Space Center's Shuttle Landing Facility. The mission marked the longest flight for Space Shuttle Discovery.

<span class="mw-page-title-main">STS-132</span> 2010 American crewed spaceflight to the ISS

STS-132 was a NASA Space Shuttle mission, during which Space Shuttle Atlantis docked with the International Space Station on May 16, 2010. STS-132 was launched from the Kennedy Space Center on May 14, 2010. The primary payload was the Russian Rassvet Mini-Research Module, along with an Integrated Cargo Carrier-Vertical Light Deployable (ICC-VLD). Atlantis landed at the Kennedy Space Center on May 26, 2010.

<span class="mw-page-title-main">Grapple fixture</span>

Grapple fixtures are used on spacecraft or other objects to provide a secure connection for a robotic arm.

<span class="mw-page-title-main">STS-134</span> 2011 American crewed spaceflight to the ISS and final flight of Space Shuttle Endeavour

STS-134 was the penultimate mission of NASA's Space Shuttle program and the 25th and last spaceflight of Space ShuttleEndeavour. This flight delivered the Alpha Magnetic Spectrometer and an ExPRESS Logistics Carrier to the International Space Station. Mark Kelly served as the mission commander. STS-134 was expected to be the final Space Shuttle mission if STS-135 did not receive funding from Congress. However, in February 2011, NASA stated that STS-135 would fly "regardless" of the funding situation. STS-135, flown by Atlantis, took advantage of the processing for STS-335, the Launch on Need mission that would have been necessary if the STS-134 crew became stranded in orbit.

<span class="mw-page-title-main">US Orbital Segment</span> US components of the International Space Station

The US Orbital Segment (USOS) is the name given to the components of the International Space Station (ISS) constructed and operated by the United States National Aeronautics and Space Administration (NASA), European Space Agency (ESA), Canadian Space Agency (CSA) and Japan Aerospace Exploration Agency (JAXA). The segment consists of eleven pressurized components and various external elements, almost all of which were delivered by the Space Shuttle.

<span class="mw-page-title-main">Strela (crane)</span> Russian crane on the International Space Station

Strela is a class of four Russian-built cargo cranes used during EVAs 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.

<span class="mw-page-title-main">Integrated cargo carrier</span> Space Shuttle module

Integrated Cargo Carrier (ICC) was a project, started in 1997 by the companies Spacehab and Airbus DS Space Systems, to develop a family of flight proven and certified cross-the-bay cargo carriers designed to fly inside the Space Shuttle cargo bay, installed either horizontally or vertically, and able to carry up to 8000 lbs. of unpressurized cargo into orbit. Airbus owns the ICC fleet of carriers.

References

  1. 1 2 3 4 5 Dotto, Lydia (1992). A Heritage of Excellence: 25 years at Spar Aerospace Limited. David Steel. Canada: Spar Aerospace Limited. pp. 41–42. ISBN   0-9696618-0-0. [Frank] Mee is the inventor of the Canadarm hand, technically known as the "end effector.
  2. ↑ Wilks, Brian (2004). Browsing Science Research at the Federal Level in Canada: History, Research Activities and Publications. University of Toronto Press. p. 117. ISBN   9780802088116 . Retrieved 22 November 2013.
  3. 1 2 3 Garry Lindberg. "Canadarm and its U of A Connections". U of A Engineer Magazine. University of Alberta. Archived from the original on 29 November 2004. Retrieved 7 December 2011.
  4. 1 2 3 4 5 Melbourne, James V. (2001). Make The Wind Blow. Heirloom Publishing Inc. pp. 62–77. ISBN   0-9694247-8-7.
  5. ↑ "The Shuttle Remote Manipulator System – The Canadarm". IEEE Canada. Retrieved 22 November 2013.
  6. ↑ Engineering Women: Re-visioning Women's Scientific Achievements and Impacts, By Jill S. Tietjen, Springer 2016, page 72
  7. 1 2 "Flight History of Canadarm". Canada Space Agency. 28 October 2011. Retrieved 27 October 2012.
  8. ↑ Demeo, M.E. (January 1990). "REMOTE MANIPULATOR SYSTEM (RMS)- BASED CONTROLS-STRUCTURES INTERACTION(CSI) FLIGHT EXPERIMENT FEASIBILITY STUDY" (PDF).
  9. ↑ "Space Shuttle Canadarm Robotic Arm Marks 25 Years in Space".
  10. 1 2 "The structure of Canadarm". Archived from the original on 10 June 2020. Retrieved 19 May 2020.
  11. ↑ "RMS: PAYLOAD DEPLOYMENT AND RETRIEVAL SYSTEM". Archived from the original on 31 December 2016. Retrieved 20 February 2007.
  12. ↑ Ray, Justin (5 January 2011). "Vandenberg's space shuttle hangar". Spaceflight Now. Retrieved 27 October 2012.
  13. ↑ "Coming to space: A Canadarm handshake?". CBC News. 11 August 2006. Retrieved 27 January 2024.
  14. 1 2 Chris Gebhardt (17 November 2010). "Discovery's retirement plans provide insight into the fate of the robotic arm". NASASpaceflight. Retrieved 27 October 2012.
  15. ↑ Andy Johnson (2 May 2013). "Unveiling exhibit, Hadfield sends first Canadarm 'last command' from space". CTV News. Retrieved 2 May 2013.
  16. ↑ Elizabeth Howell (2 May 2013). "Space Shuttle's Robotic Arm Goes on Display at Canadian Museum". Space.com. Retrieved 2 May 2013.
  17. ↑ Canadian Space Agency (2 May 2013). "Minister Moore Unveils Exhibit for Canada's National Space Icon: the Canadarm". Canadian Space Agency. Archived from the original on 6 May 2013. Retrieved 1 July 2013.
  18. ↑ "Canadarm on display: Space shuttle robot arm unveiled at Canadian museum". 2 May 2013.
  19. ↑ Semeniuk, Ivan (28 February 2019). "Canada's space program sets new course with historic commitment to lunar outpost". The Globe and Mail . Toronto. Retrieved 3 March 2019.
  20. ↑ "Google doodle honours Canadarm at 31". CBC News. 13 November 2012. Retrieved 13 November 2012.
This page is based on this Wikipedia article
Text is available under the CC BY-SA 4.0 license; additional terms may apply.
Images, videos and audio are available under their respective licenses.