|

A brief overview of the Canadarm family robotic manipulators

Authors: Aliev N.A., Suleymanov T.V.
Published in issue: #6(83)/2023
DOI: 10.18698/2541-8009-2023-6-912


Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems

Keywords: robotic arm, Canadian Space Agency, Canadarm 1, Canadarm 2, Canadarm 3, Dextre, Lunar Gateway, comparative characteristics, space
Published: 30.06.2023

Based on the open sources, the paper briefly reviews designs of the Canadarm family space robotic manipulators that were designed and developed by the Canadian Space Agency from 1981 to the present. The review contains brief description and comparative table of the Canadarm 1, Canadarm 2 and Canadarm 3 characteristics in terms of their functionality in the space conditions. Technical features and operational capabilities of each of the robotic manipulator are identified. A steady trend towards decreasing the device own mass and increasing its payload mass, range, service angles and video control systems is revealed.


References

[1] Canadarm Shuttle Remote Manipulator System. URL: https://www.spacenet.on.ca/data/pdf/canada-in-space/srms_ds.pdf (accessed May 15, 2023).

[2] Wilks B.B. Browsing Science Research at the Federal Level in Canada: History, Research Activities and Publications. Toronto, University of Toronto Press, 2004, 117 p.

[3] Doetsch K.H., Lindberg G. Canadarm. The Canadian Encyclopedia. URL: https://www.thecanadianencyclopedia.ca/en/article/canadarm (accessed May 31, 2021).

[4] Case Study: MDA — Canadian Space Arm. URL: https://www.adacore.com/uploads/customers/CaseStudy_SpaceArm.pdf (accessed October 15, 2009).

[5] Canadarm2’s Data Sheet. Canadian Space Agency. URL: https://www.asc-csa.gc.ca/eng/iss/canadarm2/data-sheet.asp (accessed May 08, 2019).

[6] Axiom Station Assembly Sequence — Axiom Space Axiom Space. URL: https://www.axiomspace.com/axiom-station/assembly-sequence (accessed August 09, 2021).

[7] A Private Space Station Might Be Born From the ISS — Seeker. URL: https://www.seeker.com/international-space-station-retire-private-axiom-orbit-commercializati-2214242152.html (accessed September 26, 2021).

[8] Star M. Space Debris Has Hit And Damaged The International Space Station. URL: https://www.sciencealert.com/space-debris-has-damaged-the-international-space-station (accessed May 31, 2021).

[9] EVA Checklist STS-126 Flight Supplement, 2008, p. 115, 117, 118. Available at: https://www.nasa.gov/centers/johnson/pdf/290103main_sts126_eva_checklist.pdf (accessed May 31, 2021).

[10] Canadarm, Canadarm2, and Canadarm3 — A Comparative Table. Canadian Space Agency. URL: https://www.asc-csa.gc.ca/eng/iss/canadarm2/canadarm-canadarm2-canadarm3-comparative-table.asp (accessed May 20, 2019).