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SPDM Overview

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SPDM Overview. SPDM. Special Purpose Dexterous Manipulator (Dextre) Last robotics component of the International Space Station’s (ISS) Mobile Servicing System (MSS).

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Presentation Transcript
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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
physical architecture overview
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
spdm stats
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)
hardware configuration otcm
Hardware Configuration - OTCM

Light

EVA Drive Bolt

OTVC

Gripper

Socket Drive

Light

Umbilical

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