In March 1996 ESA signed a contract with Fokker Space on the full scale development of the ERA (European Robotic Arm). ERA is a co-operative development with the Russian Space Agency and will help to assemble and service the Russian Segment of the International Space Station. The design, the operation and control of the ERA is described in details. The full ERA system consists of the following parts: (1) a relocatable manipulator, (2) two consoles for EVA (Extra Vehicular Activity) control, (3) a console for IVA (Intra Vehicular Activity) control, (4) a set of basepoints located on various places the Russian Segment, (5) a ground segment, particular, with a mission preparation and training equipment to prepare mission plans for upload and use in orbit. ERA is a 11.3 m long symmetric manipulator arm. At both ends, it has a shoulder/wrist assembly with a pitch, a yaw and a roll joint. Two carbon fibre limbs and an elbow pitch joint connect the two wrists. Next to the elbow, an electronic box houses the ERA control computer, which runs all the software needed to operative the arm. The dynamic control of the relocatable manipulator supports 'free moves' along a continuous path using joint data only; precise proximity control using the wrist camera for approach and retract actions and controlled compliance to forces and torques using a torque/force sensors in the end-effector for insert and retract actions. The EVA man-machine interface has 16 LED displays of eight characters each, sufficient to give the cosmonaut essential status data, command verification data and emergency, caution and warning messages. Single LEDs provide redundancy for critical status data. Similar function have been implemented on the IVA man-machine interface, which will become available for servicing mission. To support the design of ERA, Fokker Space have built the ERA simulation facility, an application on the EUROSIM simulation platform.


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    Titel :

    The European Robotic Arm for the International Space Station


    Weitere Titelangaben:

    Der europäische Roboterarm (ERA: European Robotic Arm) für die internationale Weltraumstation


    Beteiligte:
    Boumans, R. (Autor:in) / Heemskerk, C. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    1998


    Format / Umfang :

    11 Seiten, 5 Bilder, 1 Tabelle, 8 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




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