Shuttle remote manipulator system safety and rescue support capabilities

The Remote Manipulator System (RMS) incorporates a manipulator arm with a payload-handling end effector, an arm positioning mechanism and a control system. The RMS is designed to capture and deploy free-flying payloads up to 4.6 m in diameter and 18.3 m long, weighing 14,515 kg. This paper describes the RMS with attention given to the arm, the supporting subsystems, and safety design features (displays and controls, the mechanical subsystem and operations). Man-in-the-loop simulations for the assurance of RMS and crew safety are described and the use of the RMS for EVA rescue support is considered in detail.