Elbow
Joint Electronics
Joint Electronics
Orbital Replacement Unit (ORU)
interfaces for exchange with spare
parts in case of break down
Roll Joint
Pitch Joint Yaw Joint
Limb 1
Limb 2
Wrist 2
Wrist 1
Central Control
Computer
End Effector 2
(EE)
End Effector 1
(EE)
Launch configuration
Launched in so called «Charlie Chaplin»
configuration with power off
Launch vehicle:
Proton
Launch site:
Baikonur
Launch date:
November 2007
On-orbit configuration
Attached to different locations on the
Russian Segment, home base: Multi-
purpose Logistics Module (MLM)
Flight hardware
End Effector with electronics box (2)
Base Points (2 on launcher interface
and multiple on ISS)
Wrist (comprising roll, yaw and pitch
joints) with joint electronics (2)
Utilisation relevant data
PROJECT :
TITLE :
European Robotic Arm
DOCUMENT N° :
EUC-ESA-FSH-008
International Space Station
European Robotic Arm (ERA)
ERA acts as a tool for: Installation, deployment and replacement of elements of the Russian Segment
of the Space Station, inspection of the Russian Segment, support/transfer of EVA cosmonauts, transfer
of Orbital Replacement Units and other assembly tasks.
The arm consists of 2 End Effectors, 2 Wrists, 2 Limbs and 1 Elbow joint together with electronics and
cameras. Both ends act as either a “hand” for the robot or the base from which it can operate.
CLU:
Camera and Lighting Units (4) are pro-
vided for proximity control and over-views
IMMI:
Intra Vehicular Activity Man Machine
Interface via a laptop computer
EMMI:
Extra Vehicular Activity Man Machine
Interface via a control panel
Control infrastructure
From the inside of the station with the
IMMI via a laptop computer and the
Control Post Computer
From the outside of the station
with the EMMI via a control panel
and the Control Post Computer
End Effector
Extra Vehicular
Activity handrail
Camera and
Lighting Unit
(CLU)
Large re-locatable symmetrical robotic arm with 7 degrees of freedom
Limb
Illustrations:
ESA/D.
Ducros
REV.
1.1
Camera and
Lighting Unit
(CLU)
Elbow Camera and
Lighting Unit (CLU)
Elbow Camera and
Lighting Unit (CLU)
ERASMUS User Centre and Communication Office - Directorate of Human Spaceflight - www.spaceflight.esa.int/users
ERASMUS User Centre and Communication Office - Directorate of Human Spaceflight - www.spaceflight.esa.int/users
EMMI
IMMI
Base Point with
alignment target
PROJECT :
SCALE : 1:20
DIMENSIONS : mm
TITLE :
European Robotic Arm
DOCUMENT N° :
EUC-ESA-FSH-008
International Space Station
Dimensions
Total length:
11,300 mm
Reach:
9,700 mm
Tip position accuracy:
5 mm
Maximum tip speed:
100 mm/s
Mass budget
Launch mass:
630 kg
max. P/L handling capability: 8,000 kg
Communications infrastructure
Power, data and video
signals cabling and special
fixtures on End Effector and
Base Point.
Electrical power
Average operation power:
475 W (120 V DC)
Peak operation power: 800 W (120 V DC)
Main construction materials
Limb: Carbon fibre tube and
Aluminium interfaces
Wrist, Elbow and End Effector: Composed of many
different materials
Thermal Protection:
Beta Cloth Blankets
Main contractor
Dutch Space (Leiden, The
Netherlands), leading a
consortium of many
subcontractors
REV.
1.1
Specifications
ERASMUS User Centre and Communication Office
340
348
1228
4072