SPDM Overview.

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Presentation transcript:

SPDM Overview

SPDM Special Purpose Dexterous Manipulator (Dextre) Last robotics component of the International Space Station’s (ISS) Mobile Servicing System (MSS). Highly advanced, two armed manipulator designed for delicate robotic tasks that would otherwise require an astronaut Extra Vehicular Activity (EVA). Primary mission is to support maintenance of the ISS through Handling and changeout of robotically compatible ORUs Temporary accommodation of payloads on SPDM body Inspection of ISS elements Miscellaneous robotic tasks, e.g. actuation of MT stop, tether shuttle stop Can operate from any PDGF (e.g. MBS, ISS) or can be carried to work site on end of SSRMS

Physical Architecture Overview Two seven-DOF arms A grasping ORU/Tool Changeout Mechanism (OTCM) at the end of each arm A central body structure that can rotate about its axis A Power/Data Grapple Fixture (PDGF) at one end of the body A Latching End Effector (LEE) at the other end of the body A Tool Holder Assembly for retaining robotic tools while not in use An ORU Temporary Platform (OTP) for mounting and transporting payloads Cameras on the body to provide general worksite views

SPDM Stats SPDM mass: 1688 kg Peak Power (operational): 2000 W Average Power (Keep-Alive): 600 W Maximum payloads: OTP: 600 kg OTCM: 600 kg LEE: 1000 kg Maximum rates: Arm POR 0 kg: 7.5 cm/s, 2.5 deg/s 600 kg: 3.0 cm/s, 1.0 deg/s Body Roll Joint 1.4 deg/s (permanently in vernier)

SPDM Stats (cont.)

Hardware Configuration - OTCM Light EVA Drive Bolt OTVC Gripper Socket Drive Light Umbilical