Kibo Manipulator Initial Checkout Operation

Paper number

IAC-09.B6.1.7

Author

Mr. Tamiki Hosokawa, NEC, Japan

Coauthor

Dr. Hitoshi Morimoto, JAXA, Japan

Coauthor

Mr. Hiroshi Ueno, JAXA, Japan

Coauthor

Mr. Shinobu Doi, JAXA, Japan

Coauthor

Mr. Fumiya Tsutsui, Japan Aerospace Exploration Agency (JAXA), Japan

Coauthor

Mr. Fumihiro Kuwao, NEC, Japan

Coauthor

Mr. Masaki Tanaka, NEC, Japan

Coauthor

Mr. Masanobu Nishio, NEC, Japan

Coauthor

Mrs. Akiko Otsuka, NEC, Japan

Coauthor

Mr. Tomoki Takegai, NEC, Japan

Year

2009

Abstract

Japanese Experiment Module (JEM) Kibo has a Remote Manipulator System (JEMRMS), one of the four JEM elements (PM, EF, ELM and JEMRMS), is operated by crew inside Pressurized Module (PM). It is a remote control type manipulator and has the following performance.

1.Number of joints:6

2.Length:10m

3.Mass (Main Arm):780kg

4.Max speed (with less than 600kg payload):60mm/s 2.5deg/s

5.Max mass of handling payload:7000kg


JEMRMS Main Arm has two cameras (Elbow Camera and Wrist Camera) and one End Effector.
The crew in the PM can manipulate the JEMRMS by monitoring camera vision and computer data of JEMRMS console. JEMRMS console has two TV monitors and one Robotics Laptop computer (RLT). 
To support JEMRMS operation, the crew can select the camera vision of JEM system for TV monitors.
JEMRMS was launched by STS-123 and STS-124 Space Shuttle.
During STS-124 (1J Flight) operation (June 2008), JEMRMS initial deploy operation was executed. All of arm joints drove normally, and healthfulness of brake system has been confirmed through its operations.
And after STS-124 operation, some JEMRMS initial checkout operation has been executed.
This paper shows the JEMRMS initial checkout operations of Kibo Manipulator, such as the crew flight operations, engineering support operations on the ground and flight data evaluations.

Abstract document

IAC-09.B6.1.7.pdf

Manuscript document

IAC-09.B6.1.7.pdf (🔒 authorized access only).

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