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Grapple fixture

January 01, 1970

Grapple fixtures are used on spacecraft or other objects to provide a secure connection for a robotic arm.

Black is compatible with the SSRMS, SRMS and JEMRMS. Blue is compatible with SRMS and JEMRMS. Red is compatible with SSRMS.

North America edit

The fixtures allowed the Space Shuttle's Canadarm (also known as the Shuttle Remote Manipulator System, or SRMS) to safely grapple large objects (e.g. ISS components, or satellites e.g. HST).

They currently do the same for the International Space Station's Space Station Remote Manipulator System (SSRMS) (also known as Canadarm2) and the Japanese Experiment Module Remote Manipulator System (JEMRMS).[1]

The grapple fixtures are flat in appearance, with a central grapple pin topped with a sphere which the snares in the end of the arms latch on to. They use three "ramps" that help guide the robotic arm correctly onto the grapple fixture.[2]

Development edit

The North American grapple fixture was developed at Spar Aerospace in the 1970s. Its invention is credited to Frank Mee, who also invented the Canadarm end effector for the Space Shuttle.[3] The Grapple Fixture design was further refined by Barrie Teb.[3]

Variants edit

Flight-Releasable Grapple Fixture edit

 
Flight-Releasable Grapple Fixture

The Flight-Releasable Grapple Fixture (FRGF) is the simplest variation of the North American grapple fixture, it allows only for grappling and does not have any electrical connectors.[4] Its use began early in the Space Shuttle program and was developed from the Flight Standard Grapple Fixture (FSGF) by allowing the Grapple Shaft to be installed during extravehicular activity (EVA).[5]

Unpiloted ships like the SpaceX Dragon, Orbital ATK Cygnus and Japanese H-II Transfer Vehicle include a standard FRGF which is used by the Canadarm2 to grapple the capsule on approach to the International Space Station for berthing.[6] The fixture can have a maximum payload rating of 65,000 pounds or 30,000 kg.[7] An orbital replacement unit may also have a grapple fixture.

Latchable Grapple Fixture edit

 
Latchable Grapple Fixture

The Latchable Grapple Fixture (LGF) allows for grappling and latching, intended to be used for longer‐term stowage on the Payload Orbital replacement unit Accommodation (POA) (greater than 3 weeks).[4] It does not have any electrical connectors.[4]

Electrical Flight Grapple Fixture and Electro Mechanical Grapple Fixture edit

 
Electrical Flight Grapple Fixture used on the Space Shuttle's boom
 
Electro Mechanical Grapple Fixture used on Kibo's Small Fine Arm

The Electrical Flight Grapple Fixture (EFGF) allows for grappling.[7] It has a single electrical connection for data, power,[7] and video from cameras on the manipulators.[8] The electrical connection is compatible with the Shuttle Remote Manipulator System (also known as Canadarm1).

Kibo (ISS module) Remote Manipulator System (Japanese Experiment Module Remote Manipulator System) uses a similar grapple fixture, called Electro Mechanical Grapple Fixture (EMGF).[9]

Power and Video Grapple Fixture edit

 
Power and Video Grapple Fixture

The Power and Video Grapple Fixture (PVGF) allows for grappling and latching.[4] It has electrical connectors for data, video, and power.[4] The electrical connections are compatible with the Space Station Remote Manipulator System (also known as Canadarm2).

Power and Data Grapple Fixture edit

 
Power and Data Grapple Fixture

The Power Data Grapple Fixture (PDGF) allows for grappling and latching.[4] It has electrical connectors for data, video, and power; it is also the only North American grapple fixture that is replaceable on-orbit.[4] The electrical connections are compatible with the Space Station Remote Manipulator System (also known as Canadarm2).

It is used on the International Space Station (ISS). PDGFs can be "grappled" by the Canadarm2 robotic arm, in order to allow the arm to manipulate and power a grappled object, or be commanded by operators based inside the ISS. PDGFs located around much of the station provide connections for the arm. They have four rectangular connectors to transfer data, video and electrical power. During the penultimate Space Shuttle flight a PDGF was installed on the Zarya module to support Canadarm2 operations based from the Russian segment.[10]

Satellites with NASA grapple fixtures edit

European grapple fixture edit

 
A grapple fixture used by the European Robotic Arm, located on the Rassvet Mini-Research Module 1 (MRM1) of the International Space Station. This fixture, along with others allows for the European Robotic Arm to grapple and move around the station.

Although the European Robotic Arm uses grapples to relocate in a similar fashion to Canadarm2, the grapple fixtures are not compatible with each other. This means the European arm can only work on the Russian segments of the station.[13]

References edit

  1. ^ "JAXA HTV-1 Mission Press Kit" (PDF). JAXA. p. 19. Retrieved November 13, 2022.
  2. ^ CanadaArm2 End Effector 2012-10-05 at the Wayback Machine
  3. ^ a b Dotto, Lydia (1992). A Heritage of Excellence: 25 years at Spar Aerospace Limited. David Steel. Canada: Spar Aerospace Limited. pp. 42–43. ISBN 0-9696618-0-0.
  4. ^ a b c d e f g Callen, Phillip (June 2014). "Robotic Transfer and Interfaces for External ISS Payloads" (PDF). NASA. Retrieved 23 November 2015.
  5. ^ Savi S. Sachdev; Brian R. Fuller (1983). . Spar Aerospace. Archived from the original on 2015-11-23. Retrieved 23 November 2015.
  6. ^ "Space station catches Dragon by the tail". WRAL News. Retrieved November 13, 2022.
  7. ^ a b c Progress in Astronautics and Aeronautics V.161: Teleoperation and Robotics in Space. American Institute of Aeronautics and Astronautics. 1994. p. 460. ISBN 9781600864148.
  8. ^ "Canadarm". WorldSpaceFlight.com. Retrieved 2015-12-05.
  9. ^ "ISS: JEM/Kibo". eoportal.org. March 17, 2016. Retrieved May 12, 2023.
  10. ^ "STS-134 Press Kit" (PDF). NASA. Retrieved November 13, 2022.
  11. ^ Kyle Baker; Eryn Culton; Jonathan Lang; Zachary Lewis; Robert Perez-Alemany; Alexa Rizzo; Brendon Smeresky; Anthony Starks; Joshua Teneyck; Jennifer Rhatigan; Marcello Romano (2019). "An updated re-entry analysis of the Hubble Space Telescope" (PDF). First Int'l. Orbital Debris Conf.: 2. Retrieved May 12, 2023.
  12. ^ . Archived from the original on 2016-04-22. Retrieved November 13, 2022.
  13. ^ "The European Robotic Arm: A High-performance Mechanism Finally on Its Way to Space". 42nd Aerospace Mechanism Symposium. May 2014.
  14. ^ "European Robotic Arm arrives in Baikonur". Twitter. Retrieved 2020-06-03.
  15. ^ "Liftoff! Multipurpose Laboratory Module "Nauka" Launches to Space Station". blogs.nasa.gov. NASA. from the original on 21 July 2021. Retrieved 2021-07-21.   This article incorporates text from this source, which is in the public domain.

External links edit

    January 01, 1970
    grapple, fixture, used, spacecraft, other, objects, provide, secure, connection, robotic, black, compatible, with, ssrms, srms, jemrms, blue, compatible, with, srms, jemrms, compatible, with, ssrms, contents, north, america, development, variants, flight, rele. Grapple fixtures are used on spacecraft or other objects to provide a secure connection for a robotic arm Black is compatible with the SSRMS SRMS and JEMRMS Blue is compatible with SRMS and JEMRMS Red is compatible with SSRMS Contents 1 North America 1 1 Development 1 2 Variants 1 2 1 Flight Releasable Grapple Fixture 1 2 2 Latchable Grapple Fixture 1 2 3 Electrical Flight Grapple Fixture and Electro Mechanical Grapple Fixture 1 2 4 Power and Video Grapple Fixture 1 2 5 Power and Data Grapple Fixture 1 3 Satellites with NASA grapple fixtures 2 European grapple fixture 3 References 4 External linksNorth America editThe fixtures allowed the Space Shuttle s Canadarm also known as the Shuttle Remote Manipulator System or SRMS to safely grapple large objects e g ISS components or satellites e g HST They currently do the same for the International Space Station s Space Station Remote Manipulator System SSRMS also known as Canadarm2 and the Japanese Experiment Module Remote Manipulator System JEMRMS 1 The grapple fixtures are flat in appearance with a central grapple pin topped with a sphere which the snares in the end of the arms latch on to They use three ramps that help guide the robotic arm correctly onto the grapple fixture 2 Development edit The North American grapple fixture was developed at Spar Aerospace in the 1970s Its invention is credited to Frank Mee who also invented the Canadarm end effector for the Space Shuttle 3 The Grapple Fixture design was further refined by Barrie Teb 3 Variants edit Flight Releasable Grapple Fixture edit nbsp Flight Releasable Grapple Fixture The Flight Releasable Grapple Fixture FRGF is the simplest variation of the North American grapple fixture it allows only for grappling and does not have any electrical connectors 4 Its use began early in the Space Shuttle program and was developed from the Flight Standard Grapple Fixture FSGF by allowing the Grapple Shaft to be installed during extravehicular activity EVA 5 Unpiloted ships like the SpaceX Dragon Orbital ATK Cygnus and Japanese H II Transfer Vehicle include a standard FRGF which is used by the Canadarm2 to grapple the capsule on approach to the International Space Station for berthing 6 The fixture can have a maximum payload rating of 65 000 pounds or 30 000 kg 7 An orbital replacement unit may also have a grapple fixture Latchable Grapple Fixture edit nbsp Latchable Grapple Fixture The Latchable Grapple Fixture LGF allows for grappling and latching intended to be used for longer term stowage on the Payload Orbital replacement unit Accommodation POA greater than 3 weeks 4 It does not have any electrical connectors 4 Electrical Flight Grapple Fixture and Electro Mechanical Grapple Fixture edit nbsp Electrical Flight Grapple Fixture used on the Space Shuttle s boom nbsp Electro Mechanical Grapple Fixture used on Kibo s Small Fine Arm The Electrical Flight Grapple Fixture EFGF allows for grappling 7 It has a single electrical connection for data power 7 and video from cameras on the manipulators 8 The electrical connection is compatible with the Shuttle Remote Manipulator System also known as Canadarm1 Kibo ISS module Remote Manipulator System Japanese Experiment Module Remote Manipulator System uses a similar grapple fixture called Electro Mechanical Grapple Fixture EMGF 9 Power and Video Grapple Fixture edit nbsp Power and Video Grapple Fixture The Power and Video Grapple Fixture PVGF allows for grappling and latching 4 It has electrical connectors for data video and power 4 The electrical connections are compatible with the Space Station Remote Manipulator System also known as Canadarm2 Power and Data Grapple Fixture edit nbsp Power and Data Grapple Fixture The Power Data Grapple Fixture PDGF allows for grappling and latching 4 It has electrical connectors for data video and power it is also the only North American grapple fixture that is replaceable on orbit 4 The electrical connections are compatible with the Space Station Remote Manipulator System also known as Canadarm2 It is used on the International Space Station ISS PDGFs can be grappled by the Canadarm2 robotic arm in order to allow the arm to manipulate and power a grappled object or be commanded by operators based inside the ISS PDGFs located around much of the station provide connections for the arm They have four rectangular connectors to transfer data video and electrical power During the penultimate Space Shuttle flight a PDGF was installed on the Zarya module to support Canadarm2 operations based from the Russian segment 10 Satellites with NASA grapple fixtures edit Hubble Space Telescope has two fixtures 11 Long Duration Exposure Facility LDEF had two An FRGF and an active rigidize sensing grapple used to send an electronic signal to initiate the 19 experiments that had electrical systems 12 Solar Maximum Mission had one used by Shuttle for repair in orbitEuropean grapple fixture edit nbsp A grapple fixture used by the European Robotic Arm located on the Rassvet Mini Research Module 1 MRM1 of the International Space Station This fixture along with others allows for the European Robotic Arm to grapple and move around the station Although the European Robotic Arm uses grapples to relocate in a similar fashion to Canadarm2 the grapple fixtures are not compatible with each other This means the European arm can only work on the Russian segments of the station 13 May 2020 Shipped to Baikonur for final processing 14 July 2021 Launched with the Russian Multipurpose Laboratory Module 15 References edit JAXA HTV 1 Mission Press Kit PDF JAXA p 19 Retrieved November 13 2022 CanadaArm2 End Effector Archived 2012 10 05 at the Wayback Machine a b Dotto Lydia 1992 A Heritage of Excellence 25 years at Spar Aerospace Limited David Steel Canada Spar Aerospace Limited pp 42 43 ISBN 0 9696618 0 0 a b c d e f g Callen Phillip June 2014 Robotic Transfer and Interfaces for External ISS Payloads PDF NASA Retrieved 23 November 2015 Savi S Sachdev Brian R Fuller 1983 The Shuttle Remote Manipulator System and Its Use In Orbital Operations Spar Aerospace Archived from the original on 2015 11 23 Retrieved 23 November 2015 Space station catches Dragon by the tail WRAL News Retrieved November 13 2022 a b c Progress in Astronautics and Aeronautics V 161 Teleoperation and Robotics in Space American Institute of Aeronautics and Astronautics 1994 p 460 ISBN 9781600864148 Canadarm WorldSpaceFlight com Retrieved 2015 12 05 ISS JEM Kibo eoportal org March 17 2016 Retrieved May 12 2023 STS 134 Press Kit PDF NASA Retrieved November 13 2022 Kyle Baker Eryn Culton Jonathan Lang Zachary Lewis Robert Perez Alemany Alexa Rizzo Brendon Smeresky Anthony Starks Joshua Teneyck Jennifer Rhatigan Marcello Romano 2019 An updated re entry analysis of the Hubble Space Telescope PDF First Int l Orbital Debris Conf 2 Retrieved May 12 2023 LDEF structure Archived from the original on 2016 04 22 Retrieved November 13 2022 The European Robotic Arm A High performance Mechanism Finally on Its Way to Space 42nd Aerospace Mechanism Symposium May 2014 European Robotic Arm arrives in Baikonur Twitter Retrieved 2020 06 03 Liftoff Multipurpose Laboratory Module Nauka Launches to Space Station blogs nasa gov NASA Archived from the original on 21 July 2021 Retrieved 2021 07 21 nbsp This article incorporates text from this source which is in the public domain External links editSpace Station Remote Manipulator System Retrieved from https en wikipedia org w index php title Grapple fixture amp oldid 1154518976, wikipedia, wiki, book, books, library,

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