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The attached manipulator system (AMS) is to simulate and demonstrate zero-g shuttle manipulator cargo handling operations. It is not the design or development of the shuttle attached manipulator system (SAMS); however, every effort is being made, to insure that the AMS will be functionally similar to the SAMS.
Information backing up the key features of the manipulator system concept and detailed technical information on the subsystems are presented. Space station assembly and shuttle cargo handling tasks are emphasized in the concept analysis because they involve shuttle berthing, transferring the manipulator boom between shuttle and station, station assembly, and cargo handling. Emphasis is also placed on maximizing commonality in the system areas of manipulator booms, general purpose end effectors, control and display, data processing, telemetry, dedicated computers, and control station design.
A preliminary design is established for a general purpose manipulator system which can be used interchangeably on the shuttle and station and can be transferred back and forth between them. Control of the manipulator is accomplished by hard wiring from internal control stations in the shuttle or station. A variety of shuttle and station manipulator operations are considered including servicing the Large Space Telescope; however, emphasis is placed on unloading modules from the shuttle and assembling the space station. Simulation studies on foveal stereoscopic viewing and manipulator supervisory computer control have been accomplished to investigate the feasibility of their use in the manipulator system. The basic manipulator system consists of a single 18.3 m long, 7 degree of freedom (DOF), electrically acutated main boom with an auxiliary 3 DOF electrically actuated, extendible 18.3 m maximum length, lighting, and viewing boom. A 3 DOF orientor assembly is located at the tip of the viewing boom to provide camera pan, tilt, and roll.
A preliminary estimate is presented of the resources required to develop the basic general purpose walking boom manipulator system. It is assumed that the necessary full scale zero g test facilities will be available on a no cost basis. A four year development effort is also assumed and it is phased with an estimated shuttle development program since the shuttle will be developed prior to the space station. Based on delivery of one qualification unit and one flight unit and without including any ground support equipment or flight test support it is estimated (within approximately + or - 25%) that a total of 3551 man months of effort and $17,387,000 are required.
Laboratory simulations of three concepts, based on maximum use of available off-the-shelf hardware elements, are described. The concepts are a stereo-foveal-peripheral TV system with symmetric steroscopic split-image registration and 90 deg counter rotation; a computer assisted model control system termed the trajectory following control system; and active manipulator damping. It is concluded that the feasibility of these concepts is established.
The overall program background, the various system concepts considered, and the rationale for the selected design are described. The concepts for each subsystem are also described and compared. Details are given for the requirements, boom configuration and dynamics, actuators, man/machine interface and control, visual system, control system, environmental control and life support, data processing, and materials.
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The main objective of this simulation was to evaluate the feasibility of a simplified control system for a remote manipulator for space shuttle payloads. The motion commanded by the operator through the control system to the six degree of freedom manipulator approximates that of a backhoe. Compatibility of low arm damping, heavy payloads, small clearances in the shuttle cargo bay and stringent mission timelines were evaluated. The effects of various devices to enhance visual cues were evaluated. Phase I of the simulation was capture of a payload flying free in space relative to the shuttle. Phase II was simulation of cargo stowage into a mockup of the space shuttle cargo bay. A shuttle remote manipulator control station mockup including TV monitors and hand controllers is used in the simulation. Results evaluating various parameters of the control system and the task, including arm flexibility, are presented.
The Payload Operation Television System is a high performance closed-circuit TV system designed to determine the feasibility of using TV to augment purely visual monitoring of operations, and to establish optimum system design of an operating unit which can ultimately be used to assist the operator of a remotely manipulated space-borne cargo loading device. The TV system assembled on this program is intended for laboratory experimentation which would develop operational techniques and lead to the design of space-borne TV equipment whose purpose would be to assist the astronaut-operator aboard a space station to load payload components. The equipment consists principally of a good quality TV camera capable of high resolving power; a TV monitor; a sync generator for driving camera and monitor; and two pan/tilt units which are remotely controlled by the operator.
System specifications, launch procedures, costs, payloads, and evolutionary developments in the STS are outlined. The Shuttle employs solid propellant boosters and an external cryogenic fuel tank to achieve LEO for the manned Orbiter, which can maneuver in space and return to earth like a glider. The Shuttle can place a maximum payload of 30 tons into a 275 km orbit. An Inertial Upper Stage and a Spinning Solid Upper Stage will be carried by the Orbiter in its bay and used to boost satellites into GEO. Additionally, the Orbiter is equipped with a remote manipulator system for removing cargo from the bay and for grappling satellites for retrieval or repair. The Shuttle is presently launched from Kennedy Space Center, while a second launch site is being prepared at Vandenberg AFB. The STS is intended to perform 28-40 flights per year by the end of the 1980s. An Orbital Transfer Vehicle is under study to increase the size and length of payloads which can be placed in GEO using the Shuttle. Utilization of the concept is noted to be connected with the development of a permanently manned space station.
Spacecraft on-orbit servicing consists of exchanging components such as payloads, orbital replacement units (ORUs), and consumables. To accomplish the exchange of consumables, the receiving vehicle must mate to the supplier vehicle. Mating can be accomplished by a variety of docking procedures. However, these docking schemes are mission dependent and can vary from shuttle bay berthing to autonomous rendezvous and docking. Satisfying the many docking conditions will require use of an innovative docking device. The device must provide fluid, electrical, pneumatic and data transfer between vehicles. Also, the proper stiffness must be obtained and sustained between the vehicles. A device to accomplish this, the resupply interface mechanism (RIM), was developed. The RIM is a unique device because it grasps the mating vehicle, draws the two vehicles together, simultaneously mates all connectors, and rigidizes the mating devices. The NASA-Johnson Manipulator Development Facility was used to study how compatible the RIM is to on orbit docking and berthing. The facility contains a shuttle cargo bay mockup with a remote manipulator system (RMS). This RMS is used to prepare crew members for shuttle missions involving spacecraft berthing operations. The MDF proved to be an excellant system for testing the RIM/RMS compatibility. The elements examined during the RIM JSC test were: RIM gross and fine alignment; berthing method sequence; visual cuing aids; utility connections; and RIM overall performance. The results showed that the RIM is a good device for spacecraft berthing operations. Mating was accomplished during every test run and all test operators (crew members) felt that the RIM is an effective device. The purpose of the JSC RIM test and its results are discussed.
A Langmuir probe flown as part of the Plasma Diagnostics Package aboard the third Space Shuttle flight was used to determine electron densities, temperatures, and plasma potential in the vicinity of the Shuttle Orbiter. Measurements taken both in the cargo bay and 10 m above the cargo bay on the Remote Manipulator System arm are consistent with small satellite and laboratory results, in that reduced densities and elevated temperatures are observed in the Shuttle wake. The primary difference in the Shuttle measurements is one of magnitude; i.e., orders-of-magnitude density decreases and factor-of-five temperature enhancements. Analysis of data taken in (Delta N)/N turbulence can be as high as a few percent, and the most intense turbulence seems to occur near regions with a steep gradient in plasma pressure.
The MAGIK Robotics analysis team provides kinematic feasibility assessments for the ISS and has produced an animation to showcase Extravehicular Robotics (EVR) activities for Flight SpaceX (SpX)-31. Shown EVR activities were developed by Flight Operations Directorate (FOD) Robotics (ROBO). The animation also displays the current ISS configuration at the time of the flight in Increment 72. Flight SpX-31 includes a SpaceX Cargo Dragon vehicle docked to Node 2 Forward (N2F) and consists of the delivery of the Coronal Observation Experiment (CODEX) payload. Robotic operations shown include utilization the Special Purpose Dexterous Manipulator (SPDM) based on the Space Station Remote Manipulator System (SSRMS), survey of the cargo trunk, extraction of CODEX from the trunk, stow of SPDM, SSRMS walkoff to the Mobile Remote Servicer (MRS) Base System (MBS), SSRMS grapple of SPDM, translate of the Mobile Transporter (MT), and install of CODEX to Express Logistics Carrier 3 (ELC-3) Site 3. There is no disposal payload for this flight.
The film depicts an extravehicular activity (EVA) that involved the assembly of six "space-weight" columns into a regular tetrahedral cell by a team of two "space"-suited test subjects. This cell represents the fundamental "element" of a tetrahedral truss structure. The tests were conducted under simulated zero-gravity conditions, achieved by neutral buoyancy in water. The cell was assembled on an "outrigger" assembly aid off the side of a mockup of the Shuttle Orbiter cargo bay. Both manual and simulated remote manipulator system (RMS) modes were evaluated. The simulated RMS was used only to transfer stowed hardware from the cargo bay to the work sites. Articulation limits of the pressure suit and zero gravity could be accommodated by work stations with foot restraints. The results of this study have confirmed that astronaut EVA assembly of large, erectable space structur is well within man's capabilities.
The concept of a Test Article Building Block (TABB) is described. The TABB is a ground test article that is representative of a future building block that can be used to construct LEO and GEO deployable space platforms for communications and scientific payloads. This building block contains a main housing within which the entire structure, utilities, and deployment/retraction mechanism are stowed during launch. The end adapter secures the foregoing components to the housing during launch. The main housing and adapter provide the necessary building-block-to-building-block attachments for automatically deployable platforms. Removal from the shuttle cargo bay can be accomplished with the remote manipulator system (RMS) and/or the handling and positioning aid (HAPA). In this concept, all the electrical connections are in place prior to launch with automatic latches for payload attachment provided on either the end adapters or housings. The housings also can contain orbiter docking ports for payload installation and maintenance.
Space Telerobotics research, performed under contract to the European Space Agency (ESA), concerning the execution of human factors experiments, and ultimately leading to the development of a telerobotics test bed, has been carried out since 1985 by a British Consortium consisting of British Aerospace, the United Kingdom Atomic Energy Authority and, more recently, the UK National Advanced Robotics Research Centre. The principal aim of the first study of the series was to derive preliminary requirements for a teleoperation servicing system, with reference to two mission model scenarios. The first scenario introduced the problem of communications time delays, and their likely effect on the ground-based operator in control of a manipulator system on board an unmanned servicing vehicle in Low Earth Orbit. In the second scenario, the operator was located on the NASA Orbiter aft flight deck, supervising the control of a prototype manipulator in the 'servicing' of an experimental payload in the cargo bay area. Human factors analyses centered on defining the requirements for the teleoperator workstation, such as identifying basic ergonomic requirements for workstation and panel layouts, defining teleoperation strategies, developing alphanumeric and graphic screen formats for the supervision or direct control of the manipulator, and the potential applications of expert system technology. The second study for ESA involved an experimental appraisal of some of the important issues highlighted in the first study, for which relevant human factors data did not exist. Of central importance during the second study was the issue of communications time delays and their effect on the manual control of a teleoperated manipulator from a ground-based command and control station.
The paper considers STS payload-interface verification requirements and the capability provided by STS to support verification. The intent is to standardize as many interfaces as possible, not only through the design, development, test and evaluation (DDT and E) phase of the major payload carriers but also into the operational phase. The verification process is discussed in terms of its various elements, such as the Space Shuttle DDT and E (including the orbital flight test program) and the major payload carriers DDT and E (including the first flights). Five tools derived from the Space Shuttle DDT and E are available to support the verification process: mathematical (structural and thermal) models, the Shuttle Avionics Integration Laboratory, the Shuttle Manipulator Development Facility, and interface-verification equipment (cargo-integration test equipment).
A concept called the low-cost modular spacecraft, in which the subsystems would be contained in replaceable modules and which would be capable of various applications, is under engineering development. Studies have shown that servicing of such a spacecraft on orbit by the Space Shuttle over an extended lifetime is more economical than three other alternatives: launching replacement satellites on conventional boosters as existing satellites fail, launching replacements by Shuttle, or launching replacement satellites and retrieving malfunctioning satellites by Shuttle. For on-orbit servicing, the Shuttle would use its Remote Manipulator system (RMS) to bring the malfunctioning satellite into its cargo bay. The Flight Support System (FSS) on the Orbiter used for servicing the satellite would include an appendage storage frame, a retention cradle, a positioning platform, a Module Exchange Mechanism (MEM), and a storage magazine. Ground simulations are under way with the Orbiter mockup.