1. SPDM Overview

2. 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

3. 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

4. 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)

5. SPDM Stats (cont.)

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