Canadiam "robot arm" +++ for the International Space Station

Good summary

        http://www.space.gc.ca/asc/eng/iss/mss_spdm.asp
Which says in part ...

Dextre is an essential tool for maintaining and servicing =

the space station. With its dual-arm design providing added =

flexibility, Dextre will remove and replace smaller =

components on the Station=92s exterior, where precise handling =

is required. It will be equipped with lights, video =

equipment, a tool platform and four tool holders.

Dextre can perform dexterous tasks by sensing various forces =

and moments on the payload. In response, it can =

automatically compensate its movements to ensure the payload =

is manipulated smoothly.

With its two arms, Dextre will load and unload objects, use =

robotic tools, attach and detach covers and install various =

units of the Space Station. It will either be attached to =

the end of Canadarm2 or ride independently on the Mobile =

Base System and have Canadarm2 deliver equipment to it for =

servicing. It also has four cameras that will provide the =

crew inside the Station with additional views of the work =

areas.

Like Canadarm2 and the Mobile Base System (MBS), the Special =

Purpose Dexterous Manipulator will be controlled by the crew =

inside the International Space Station. This system will =

allow the crew to perform many of the tasks that would =

otherwise require an astronaut to perform during a demanding =

spacewalk.

Dextre is a sophisticated dual armed robot, which is part of =

Canada's contribution to the International Space Station =

(ISS). Along with Canadarm2, whose technical name is the =

Space Station Remote Manipulator System, and a moveable work =

platform called the Mobile Base System, these three elements =

form a robotic system called the Mobile Servicing System =

(MSS). The three components have been designed to work =

together or independently.



________________


The usual suspects

        http://en.wikipedia.org/wiki/Special_Purpose_Dexterous_Manipulator

        http://www.engadget.com/2008/03/07/canadian-built-dextre-robot-set-=
for-delivery-to-space-station/

        http://www.physorg.com/news124212433.html

        http://www.ctv.ca/servlet/ArticleNews/story/CTVNews/20080310/dextre=
_canada_080310/20080310?hub=3DCTVNewsAt11


Launch: Scheduled for March 11, 2008

MD Robotics, located in Brampton, Ontario, is the main =

contractor of the Dextre. The technology behind Dextre is =

built upon the heritage of its predecessor, Canadarm2. =

Conceptually the two robots are similar and they both =

operate with the support of computers; however, their design =

and purpose are different.

Dextre is a complex robot designed to perform intricate =

maintenance and servicing tasks on the outside of the ISS. =

Dextre will carry out delicate work that, so far, could only =

be accomplished by astronauts during spacewalk activities. =

In other words, Dextre will provide an alternative to =

astronauts, considerably reducing the amount of time that =

they have to venture out of the ISS to perform demanding =

spacewalks and providing more time for them to perform =

science on the ISS.

Upon close inspection of Dextre, one notes its resemblance =

to the human shape: an upper body that can pivot at the =

waist with shoulders that support two identical arms. Each =

arm has a total of seven joints, providing an incredible =

amount of freedom when performing a task. However, Dextre is =

designed so that only one arm can move at a time in order to =

avoid self-collision, achieve greater stability and maintain =

operational similarity with Canadarm2. The greater stability =

is provided by the immobile arm, which is first commanded to =

anchor Dextre to an ISS stabilization point. At the tip of =

each arm, we find a "hand", known technically as the Orbital =

Replacement Unit/Tool Changeout Mechanism (OTCM). The OTCM =

consists of a set of parallel retractable jaws, which serve =

to grip payloads and tools. Each OTCM is also equipped with =

a retractable motorized socket wrench to mate and demate =

mechanisms on-orbit, as well as lights and a black & white =

camera. Dextre lower body is equipped with a pair of =

pan/tilt colour cameras that allow astronauts aboard the =

ISS, and engineers on the ground, to monitor the task, which =

is out of direct eyesight.

A variety of tasks will be performed by Dextre including =

installation and removal of small payloads such as =

batteries, power supplies and computers; providing power and =

data connectivity to payloads; and manipulating, installing, =

removing and inspecting scientific payloads. A typical task =

for Dextre is to replace a depleted (100 kg) battery, which =

involves bolting and unbolting operations as well as =

millimetre level positioning accuracy to properly align and =

insert the spare battery within its worksite and properly =

engage all connectors. This peg-in-the-hole type of task =

demands a great amount of precision and a gentle touch to =

avoid binding. To achieve this Dextre has a unique feature =

which complements its remarkable dexterity: precise sensing =

of forces and torques at the "hand" and automatic =

compensation to ensure the payload moves smoothly into its =

mounting fixture. To illustrate the level of performance of =

Dextre, here on Earth it could likely be used to insert an =

item as delicate as a videotape into a video recorder.

Dextre is a very versatile robotic tool. It can work solo, =

fixed to one of the base points (known as power data grapple =

fixtures) along the side of the Station or on the Mobile =

Base System. However, most of the time Dextre will do its =

work while attached to the free end of Canadarm2 which will =

manoeuvre Dextre into position next to the payload which =

requires maintenance along the main truss of the ISS. =

Astronauts aboard the ISS will operate all of the MSS =

components from a robotic workstation. As part of mission =

preparation, astronauts must undergo rigorous training to =

learn how to operate each component of the MSS. Canadian =

Space Agency engineers provide this training at the John H. =

Chapman Space Centre in Longueuil, Quebec.





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