Reverse Kinematic Analysis and Uncertainty Analysis of the Space Shuttle AFT Propulsion System (APS) POD Lifting Fixture

The space shuttle Aft Propulsion System (APS) pod requires precision alignment to be installed onto the orbiter deck. The Ground Support Equipment (GSE) used to perform this task cannot be manipulated along a single Cartesian axis without causing motion along the other Cartesian axes. As a result, manipulations required to achieve a desired motion are not intuitive. My study calculated the joint angles required to align the APS pod, using reverse kinematic analysis techniques. Knowledge of these joint angles will allow the ground support team to align the APS pod more safely and efficiently. An uncertainty analysis was also performed to estimate the accuracy associated with this approach and to determine whether any inexpensive modifications can be made to further improve accuracy.