System requirements and design features of Space Station Remote Manipulator System mechanisms

The Space Station Remote Manipulator System (SSRMS) is a long robotic arm for handling large objects/payloads on the International Space Station Freedom. The mechanical components of the SSRMS include seven joints, two latching end effectors (LEEs), and two boom assemblies. The joints and LEEs are complex aerospace mechanisms. The system requirements and design features of these mechanisms are presented. All seven joints of the SSRMS have identical functional performance. The two LEES are identical. This feature allows either end of the SSRMS to be used as tip or base. As compared to the end effector of the Shuttle Remote Manipulator System, the LEE has a latch and umbilical mechanism in addition to the snare and rigidize mechanisms. The latches increase the interface preload and allow large payloads (up to 116,000 Kg) to be handled. The umbilical connectors provide power, data, and video signal transfer capability to/from the SSRMS.