Space Robotics: Soyuz Docking, Canadarm2, Dextre, and Mobile Base System

1. RBE 595: Space and Planetary RoboticsLecture 6 Professor Marko B Popovic A term 2019

2. A few movies with Soyuz (un)docking Soyuz rendezvous and docking explained https://www.youtube.com/watch?v=M2_NeFbFcSw https://www.youtube.com/watch?v=-l7MM9yoxII&t=325s Soyuz undocking, reentry and landing explained

3. A few Canadarm 2 movies About Canadarm2 http://www.asc-csa.gc.ca/eng/iss/canadarm2/about.asp Canadarm2: How It Works https://www.youtube.com/watch?v=ck76yL_s30s Hadfield behind the controls of Canadarm2 https://www.youtube.com/watch?v=K7NvsxcoDKo

4. Dextre 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 otherwise requiring spacewalks. It was launched March 11, 2008 on mission STS-123. Dextre is part of Canada's contribution to the ISS and is named to represent its dexterous nature. It is sometimes also referred to as the SPDM (Special Purpose Dexterous Manipulator). Dextre is the third Canadian robotic arm used on the ISS, preceded by the Space Shuttle's Canadarm and the large Canadarm2. Dextre was designed and manufactured by MacDonald Dettwiler (MDA). In the early morning of February 4, 2011, Dextre completed its first official assignment which consisted of unpacking two pieces for Kounotori 2 while the on-board crew was sleeping.

5. Dextre resembles a gigantic torso fitted with two extremely agile, 3.5 metres (11 ft) arms. Total mass approx 3,664 pounds. The 3.5 metre long body pivots at the "waist". The body has a Power Data grapple fixture at the 'head' end that can be grasped by the larger Space Station Arm, Canadarm2 so that Dextre can be positioned at the various Orbital Replacement Unit (ORU) worksites around the Space Station. The other end of the body has a Latching End Effector virtually identical to that of Canadarm2, so that Dextre can also be attached to Space Station grapple fixtures or the Mobile Base System. Dextre can also be operated whilst it is attached to the end of Canadarm2.

6. Each arm is somewhat like a shortened Canadarm2 (in that it has 7 joints) but is fixed to Dextre at one end. At the end of Dextre's arms are ORU/Tool Changeout Mechanisms (OTCM). The OTCM has built-in grasping jaws, a retractable socket drive, a monochrome TV camera, lights, and an umbilical connector that can provide power, data, and video to/from a payload. Dextre moves one arm at a time, while one arm may hold onto the station (using specially provided standard H or Micro interfaces) for stability and ease of control, the other is available to perform tasks.

7. A few movies with Dextre About Dextre http://www.asc-csa.gc.ca/eng/iss/dextre/about.asp Dextre tests NASA’s International Space Station Robotic External Leak Locator (IRELL) https://www.youtube.com/watch?v=nNcRDBK8zxY Dextre changes a pump on the International Space Station https://www.youtube.com/watch?v=7iJUtfTjUVo

8. Mobile Base System The Mobile Remote Servicer Base System (MBS) is a base platform for the robotic arms. It was added to the station during STS-111 in June 2002. The platform rests atop the Mobile Transporter (installed on STS-110, designed by Northrop Grumman in Carpinteria, CA), which allows it to glide 108 meters down rails on the station's main truss. Canadarm2 riding the Mobile Base System along the Mobile Transporter railway, running the length of the station's main truss

9. Candarm2 can relocate by itself, but can't carry at the same time, Dextre can't relocate by itself. The MBS gives the two robotic arms the ability to travel to work sites all along the truss structure and to step off onto grapple fixtures along the way. When Canadarm2 and Dextre are attached to the MBS, they have a combined mass of 4,900 kg (10,800 lb). Like Canadarm2 it was built by MD Robotics and it has a minimum service life of 15 years. The MBS is equipped with 4 Power Data Grapple Fixtures, one at each of its four top corners. Any 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 them. 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 is used to host scientific experiments. The MBS also supports astronauts during Extra-vehicular activities. 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 at a top speed of about 1.5 meters per minute.

10. Remote Manipulator System (JEMRMS) The Remote Manipulator System (JEMRMS) is a 10m long robotic arm, mounted at the port cone of the PM, intended to service the EF and to move equipment from and to the ELM. The RMS control console was launched while inside the ELM-PS. The main arm was launched with the PM. The "Small Fine Arm", is 2m long and attaches to the end effector of the main arm, was launched aboard. The free end of the arm is able to use the type of grapple fixtures that the Canadarm2 uses. The Japanese Experiment Module (JEM), also known with the nickname Kibo (きぼうKibō?, Hope), is a Japanese science module for the International Space Station (ISS) developed by JAXA. It is the largest single ISS module. The Pressurized Module (PM) is the core component connected to the port hatch of the Node 2 Module. It is cylindrical in shape.

11. The Exposed Facility (EF), also known as "Terrace", is located outside the port cone of the PM (which is equipped with an airlock). The EF has 12 EFU (Exposed Facility Unit) ports that attach to PIU (Payload Interface Unit) connectors on EF-EEUs (EF-Equipment Exchange Units). All experiment payloads are fully exposed to the space environment. For proper functioning of these experiments, the payload requires an ORU (Orbital Replacement Unit) which consists of the EPS (Electrical Power System), CT (Communications & Tracking) and the TCS (Thermal Control System). Of the 12 ORUs, eight are replaceable by the JEMRMS while the other four are EVA-replaceable. The Experiment Logistics Module (ELM) includes two sections:Experiment Logistics Module, Pressurized Section (ELM-PS) and unpressurized (external) section (ELM-ES).

12. Robonaut A Robonaut is a dexterous humanoid robot built and designed at NASA Johnson Space Center in Houston, Texas. Main challenge was to build machines that can help humans work and explore in space. Working side by side with humans, or going where the risks are too great for people, Robonauts could expand capabilities for construction and discovery. Central to that effort is an ability to use one's hand to do work, and challenge is to build machines with dexterity that exceeds that of a suited astronaut. NASA began working on the Robonaut project in 1996 and produced the first version of the robot in 2000. Since that time, engineers have continued to improve Robonaut. The newest model is called Robonaut 2, or R2. NASA and car manufacturer General Motors worked together to create R2. Robonaut has a head, torso, arms and hands like a person. Cameras in the head provide vision.

13. Robonaut is called a dexterous robot because its hands and fingers move like a person's. So Robonaut can perform tasks designed to be done by human hands. For example, Robonaut can use many of the same tools as an astronaut. In addition, the robot's torso can be attached to a "bottom" so Robonaut can move around. For example, Robonaut has been tested with a set of wheels. The robonaut even had a legs for work on the space station. R2 flew to the space station on the space shuttle Discovery in 2011. On the station, Robonaut was like an extra pair of hands. Because R2 is a robot, it does not get tired or bored. So, it was perfect for measuring how the air moves on the station. The robot can stand very still. It also does not breathe. It can hold a tool to measure the air without breathing on the tool. R2 was also good at cleaning the many handrails inside the station, allowing astronauts to focus on the more important science and repair work. R2 also had a task board on which to practice flipping switches and pushing buttons. While on orbit, R2 sometimes acted as astronauts' eyes and hands. The crew controlled the robot through the use of special virtual reality gear aboard the station. NASA can now improve the humanoid robot by using what was learned about R2 while it was on the space station.

14. R2 was designed and developed by NASA and General Motors with assistance from Oceaneering Space Systems engineers to accelerate development of the next generation of robots and related technologies for use in the automotive and aerospace industries. The original upper body humanoid robot was upgraded by the addition of two climbing manipulators ("legs"), more capable processors, and new sensors. R2 is a state of the art highly dexterous anthropomorphic robot. Like its predecessor Robonaut 1 (R1), R2 is capable of handling a wide range of EVA tools and interfaces, but R2 is a significant advancement over its predecessor. R2 is capable of speeds more than four times faster than R1, is more compact, is more dexterous, and includes a deeper and wider range of sensing. Advanced technology spans the entire R2 system and includes: optimized overlapping dual arm dexterous workspace, series elastic joint technology, extended finger and thumb travel, miniaturized 6-axis load cells, redundant force sensing, ultra-high speed joint controllers, extreme neck travel, and high resolution camera and IR systems.

15. A few Robonaut 2 movies Robonaut 2: Introduction Robonaut Deputy Project Manager, Casey Joyce, introduces Robonaut 2. He demonstrates Robonaut's capabilities and outlines some of the goals for the future of Robonaut. https://www.youtube.com/watch?v=Wf8E1Iyelu4 A Step Up for NASA's Robonaut: Ready for Climbing Legs https://www.nasa.gov/content/a-step-up-for-nasa-s-robonaut-ready-for-climbing-legs