Commissioning “Dextre” for On-Orbit Operations

Paper number

IAC-06-B4.2.02

Author

Mr. Layi Oshinowo, MDA, Canada

Coauthor

Mr. Elliott Coleshill, MacDonald Detwiller Robotics, Canada

Coauthor

Dr. Michael Liu, MDA, Canada

Coauthor

Dr. Richard Rembala, MDA, Canada

Coauthor

Mr. Shivshankar Prasad, MDA, Canada

Year

2006

Abstract

The Special Purpose Dexterous Manipulator (SPDM), also known as “Dextre” is currently slated to launch in late 2007 for deployment on the International Space Station (ISS) as the final component of Canada’s Mobile Servicing System (MSS). Dextre’s role on the Space Station is to perform repair and replacement (R\&R) maintenance tasks on robotically compatible external On-orbit Replaceable Units (ORUs), thereby eventually easing the burden on the ISS crew. Currently, all external maintenance tasks are performed by astronauts during time consuming and risky spacewalks. 

As with the other two parts of the MSS, the Space Station Remote Manipulator System (SSRMS), also known as “Canadarm2” and the Mobile Base System (MBS), it will be necessary to run Dextre through a series of checkout activities to commission it for mission operations. The commissioning exercise is important when considering the amount of effort required to prepare for an on-orbit R\&R mission; even more so when considering the variety of ORUs with their associated requirements and the increased complexity of operations compared to current Canadarm2 tasks. The challenge is to define the set of checkout activities necessary to demonstrate Dextre’s on-orbit capabilities, establish levels of priority for execution given time, schedule and personnel constraints so that checkouts can be performed in a sequence reflecting expected demands. In addition, other planned ISS activities such as the Japanese Battery Transfer Demonstration can be used to optimize commissioning activities. 

This paper demonstrates how current resources and scheduled activities can be (re)used to help the commissioning of Dextre and reduce the time required before this new ISS Component can be utilized.

Abstract document

IAC-06-B4.2.02.pdf

Manuscript document

IAC-06-B4.2.02.pdf (🔒 authorized access only).

To get the manuscript, please contact IAF Secretariat.