Detail |
Space
Shuttle Robotic Manipulator System (Canadarm) |
International
Space Station Mobile Servicing System (Canadarm 2) |
Mission
Profile |
Returns
to Earth after every shuttle mission. |
Permanently
in space. |
Range
of Motion |
Reach
limited to length of arm. |
Moves
end-over-end to reach many parts of International Space
Station in an inchworm-like movement; limited only by
number of Power Data Grapple Fixtures (PDGFs) on the station.
PDGFs located around the station provide power, data and
video to the arm through its Latching End Effectors (LEEs).
The arm can also travel the entire length of the space
station on the Mobile Base System. |
Fixed
Joint |
Fixed
to the shuttle by one end. |
No
fixed end. Equipped with LEEs at each end to provide power,
data and video signals to arm. |
Degrees
of Freedom |
6
degrees of freedom. |
Similar
to a human arm: shoulder (2 joints), elbow (1 joint)
and wrists (3 joints). |
|
7 degrees of freedom. |
Much
like a human arm: shoulder (3 joints), elbow (1
joint) and wrists (3 joints). However, Canadarm2
can change configuration without moving its hands. |
|
Joint
Rotation |
Limited
elbow rotation (limited to 160 degrees). |
Full
joint rotation. |
Joints
(7) rotate 540 degrees. |
Larger
range of motion than a human arm. |
|
Senses |
No
sense of touch. |
Force
moment sensors provide a sense of touch. |
Automatic
vision feature for capturing. |
Automatic
collision avoidance. |
|
Length |
15
meters (49.2 feet) |
17.6
meters (57.7 feet) |
Weight |
410.5
kilograms (905 pounds) |
1,800
kilograms (3,968 pounds) |
Diameter
(exterior diameter of composite boom) |
33
centimeters (13 inches) |
35
centimeters (13.8 inches) |
Mass
Handling Capacity |
29,484
kilograms (65,001 pounds) - design case handling
payload. |
Upgraded to 266,000 kilograms (586,429 pounds) |
|
116,000
kilograms (255,736 pounds) - design case handling payload. |
Speed
of Operations |
Unloaded:
60 centimeters / second
(1.97 feet / second) |
Loaded:
6 centimeters / second
(2.36 inches / second) |
|
Unloaded:
37 centimeters / second
(1.21 feet / second) |
Loaded:
Station
Assembly - 2 centimeters / second
(.79 inches / second) |
EVA
Support - 15 centimeters / second
(5.9 inches / second) |
Orbiter
- 1.2 centimeters / second
(.47 inches / second) |
|
|
Composition |
16
plies of high modulus carbon fiber—epoxy |
19
plies of high strength carbon fiber—thermoplastic |
Repairs |
Repaired
on Earth |
Designed
to be repaired in space by replacing ORUs (Orbital Replacement
Units). Built-in redundancy. |
Control |
Autonomous
operation or astronaut control |
Autonomous
operation or astronaut control |
Cameras |
2
(one on the elbow and one on the wrist) |
4
color cameras (one at each side of the elbow, the other
two on the Latching End Effectors) |