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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SPDM Overview

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Spdm overview

SPDM Overview


Spdm overview

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)


  • Spdm stats cont

    SPDM Stats (cont.)


    Hardware configuration otcm

    Hardware Configuration - OTCM

    Light

    EVA Drive Bolt

    OTVC

    Gripper

    Socket Drive

    Light

    Umbilical


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