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0.17m

shoulder roll shoulder pitch elbow roll. wrist pitch wrist yaw tool drive roll. elbow pitch wrist roll. 0.68m. 0.68m. 0.17m. Parallel Jaw Mechanism. Microconical. Bare Bolt Drive. http://rtsx.ssl.umd.edu. elbow pitch wrist roll. shoulder roll shoulder pitch elbow roll.

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0.17m

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  1. shoulder roll shoulder pitch elbow roll wrist pitch wrist yaw tool drive roll elbow pitch wrist roll 0.68m 0.68m 0.17m

  2. Parallel Jaw Mechanism Microconical Bare Bolt Drive http://rtsx.ssl.umd.edu

  3. elbow pitch wrist roll shoulder roll shoulder pitch elbow roll wrist pitch 1.36m 1.36m 0.17m

  4. 1 6 7,8 2,3 4,5

  5. 10 12 9 13 14 11

  6. 20 21 Grapple Arm 19 22 Task Arm 16 15 17 18

  7. 26, 27, 28 Not Shown 25 23 24

  8. Retro-Reflector Clusters Active Sensor Operation: • Laser diodes illuminate retro-reflectors mounted on the target • CMOS camera detects reflected beams from target • DSP translates video information and converts it into relative position and attitude measurements • SBC sends information to Guidance, Navigation, and Control (GN&C) system Passive Target

  9. FDCC FDCC FDCC Transponder Gimbaled Ka-Band Omni Video System VideoDisplays Antenna Switch Diplexer Flight computers Crew Interface - Hand Controllers - Switches - Voice Low Noise Amplifier Power Amplifier Sensor Data Avionics

  10. Avionics

  11. Top Right Panel Top Left Panel (P) (P) (T4) (T8) GN2 GN2 Fill and Drain Valve Flow Control Valve Normally Closed Flow Control Valve Normally Open Filter Thrust Chamber Valve (TCV) Valve Branch A Valve Branch B Heater Pressure Temperature Thruster Isolation Valve (T) (T) (T2) (T6) (T3) (T7) (P) N2H4 N2H4 (T) (T1) (T5) (P) (T) Bottom Right Panel Bottom Left Panel 4B 4A 1A 1B (T12) (T16) (P) 2 (T) (T10) (T14) 5 3A 6B 6A 3B (T11) (T15) (T9) (T13) Valve Heaters Line Heaters Catalyst Bed Heaters

  12. Top Right Panel Top Left Panel (T4) (T8) Fill and Drain Valve Flow Control Valve Normally Closed Flow Control Valve Normally Open Filter Thrust Chamber Valve (TCV) Valve Branch A Valve Branch B Heater Pressure Temperature Thruster Isolation Valve Pressure Regulator Relief Valve (T2) (T6) (P) (P) (T) (T) (T3) (T7) N2 N2 (T1) (T5) Bottom Right Panel Bottom Left Panel 1A 4A 4B 1B (P) (T12) (T16) (T) R2 R4 R1 R3 (T10) (T14) 2 (T11) (T15) 5 6A 3A 3B 6B (T9) (T13)

  13. Critical Design Review May 3, 2003

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