Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Space Robotics and Vehicle Interfaces• Lecture #25 – November 24, 2020 • Robotic systems • Docking and berthing interfaces • Windows
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© 2020 David L. Akin - All rights reserved http://spacecraft.ssl.umd.edu
Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Shuttle Remote Manipulator System
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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RMS Wrist Mechanisms
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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RMS Grapple Fixture and Target
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Shuttle RMS Grapple Tolerances
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Capture Before Contact• Need to control position and attitude of
servicing/assembly targets • Generally in free drift mode prior to grapple • Small impacts produce substantial counter-
reactions (e.g., Solar Max) • Goal for grapple devices: capture before contact • Envelope some aspect of target to prevent escape
before any contact is made • Rigidize grapple after capture
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Shuttle RMS Grapple Procedure (1)
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Shuttle RMS Grapple Procedure (2)
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Shuttle RMS Grapple Procedure (3)
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Space Station Remote Manipulator
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Space Station Remote Manipulator
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Space Station RMS - Canadarm II
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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SSRMS Latching End Effector
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https://youtu.be/QqgxfFlQ3D0
Great (short) video of SSRMS latching end effector in action:
Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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ISS Power Data Grapple Fixture
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Special Purpose Dexterous Manipulator
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Special Purpose Dexterous Manipulator
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Special Purpose Dexterous Manipulator
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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SPDM - Dextre
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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SPDM Orbital Tool Changeout Mechanism
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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European Robotic Arm
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Japanese Exposed Facility Robotics
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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JEM Remote Manipulator System
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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JEM Small Fine Arm
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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DARPA Orbital Express
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Orbital Express Demo Manipulator System
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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OE Docking System Design Requirements
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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OE Docking System
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Christiansen and Nilson, “Docking Systems Mechanism Utilized on Orbital Express Program” 39th Aerospace Mechanisms Symposium, May 2008
Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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OE Docking Sequence
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Christiansen and Nilson, “Docking Systems Mechanism Utilized on Orbital Express Program” 39th Aerospace Mechanisms Symposium, May 2008
Orbital Express Demonstration Manipulator System
• MDA developed the Orbital Express Autonomous Robotic Manipulator System comprising the following space and ground elements: – Small next generation Robotic arm on ASTRO
with avionics and autonomous vision system – Grapple fixtures and vision target for
Free-Flyer Capture and ORU transfer – Mating interface camera and lighting system – Standard, non-proprietary ORU containers and mating
interfaces – Proximity-Ops lighting system – Autonomous Software – Robotic Ground Segment
Length 3m
Mass 71kg
Volume 65cm x 49cm x 186cm
Power 131 watts
DOF 6
Manipulator Arm Specifics
http://sm.mdacorporation.com/what_we_do/oe_7.html
Free-Flyer Capture
Robotic Arm on ASTRO will drive
autonomously using highly-reliable vision
feedback from a camera at its tip to capture NEXTSat
http://sm.mdacorporation.com/what_we_do/oe_4.html http://sm.mdacorporation.com/what_we_do/oe_2.html
Berthing requires the advanced robotic arm to grapple NEXTSat from a
distance of 1.5 m and position it within the
capture envelope
http://www.boeing.com/ids/advanced_systems/orbital/pdf/orbital_express_demosys_18.pdf
Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Robonaut
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Robonaut Using Human Interfaces
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Robonaut on Sliding Stand On-Orbit
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Robonaut with Legs On-Orbit
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RESTORE Dexterous Manipulator
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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RESTORE End Effector Interchange
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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RESTORE End Effector Interchange
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John T. Dorsey, NASA Langley Research Center, (757) 864-3108, [email protected]
The Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN): An Enabling Capability for In-Space Servicing
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Presented To: ATLAST Seminar Series
John T. Dorsey NASA Langley Research Center
November 18, 2015
John T. Dorsey, NASA Langley Research Center, (757) 864-3108, [email protected]
New Approach: Tendon Actuated Lightweight In-Space MANipulator (TALISMAN)
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Truss Link
Hinge Joint
Motor/GearboxActuation Cables
Spreader
What Is New In This Approach? •Tendon and spreader architecture: high gear ratio and mechanical advantage, lightweight motor/gearboxes •Tendon architecture: low joint compliance and mass •Tension/compression structural elements: minimize structural mass •Actuation tendons: also provide stiffening for the structure •Lightweight joints: number can be optimized to increase dexterity and/or packaging efficiency •Tendon actuation: full or semi antagonistic control options possible •Design: modular and scalable making it versatile to many applications
John T. Dorsey, NASA Langley Research Center, (757) 864-3108, [email protected]
TALISMAN vs. Shuttle Remote Manipulator System
Design Parameter SRMS TALISMAN
Total manipulator length 15.3 m (50 ft) 15.3 m (50 ft)Number of joints in manipulator 6 (2 shoulder, 1 elbow, 3 wrist) 5 (2 base, 3 joints)
Number of links in manipulator 2 4Tube/Link System Mass [kg] 46 kg (101.4 lbf) 7.03 kg (15.5 lbf)Manipulator Mass 410 kg (904 lbf) 36.1 kg (79.6 lbf)Packaged Volume 1.74 m3 (61.4 ft3) 0.23 m3 (8 ft3)
Talisman compared to SRMS: < 1/10th mass and < 1/7th the volume (Talisman does not include an end-effector)
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Shuttle Remote Manipulator Envelope
Shuttle Remote Manipulator Composite Tube Diameter
Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Ranger Telerobotic Flight Experiment
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Ranger Telerobotic Shuttle Experiment
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Ranger Flight Dexterous Arms
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Dexterous Arm Parameters• Modular arm with co-located electronics
– Embedded 386EX rad-tolerant processors – Only power and 1553 data passed along arm
• 53 inch reach mounting plate-tool interface plate • 8 DOF with two additional tool drives (10
actuators) • Interchangeable end effector with secure tool
exchange • 30 pounds tip force, full extension • 150 pounds (could be significantly reduced) • 250 W (average 1G ops)
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Ranger-SMEX-Lite Concept
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Ranger on SMV
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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SM4R(obotic) Concept Overview
Ranger Telerobotic Servicing SystemUniversity of Maryland
HST SM4 Servicing HardwareNASA Goddard
Interim Control ModuleNaval Research Laboratory
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Hubble Space Telescope Servicing
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Results of Ranger Hubble Servicing• Over four months of active project, Ranger
performed all major servicing operations planned for SM-4
• Significant performance impacts found in selected architecture – MDA OTCM size makes operations in confined
volumes difficult – Manipulator and robot body sized preclude close
access to most ORUs other than “reaching in” – Insufficient time to fully implement compliant
control in this configuration • Most of the issues were mitigated in original Ranger
servicing proposal
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Ranger Spacecraft Servicing System
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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MODSS Concept• Miniature On-orbit
Dexterous Servicing System • Maintain essential
capabilities of Ranger for dexterous servicing – Human-compatible servicing
tasks – Interchangeable end effectors – Free-flying spacecraft bus
• Shrink system to technological minimums (target: 100 kg total)
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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MODSS Dexterous Manipulator Concepts
Modular Roll/Pitch/Arm Link with Embedded Controller
Modular Actuator Design
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Completed Pitch-Roll Module Prototype
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Comparison to Ranger Technology• 6-DOF dexterous arm
– 10 kg (22 lbm) arm mass – 84 mm (3.3 in) diameter – 75 cm (30 in) length – 53 N (12 lbf) tip force
• Modular actuator data – 67 N-m (40 ft-lbf) actuator torque – 2.1 kg (4.6 lbm) module mass
• 10-DOF dexterous arm – 77 kg (170 lbm) arm mass – 135 mm (5.375 in) diameter – 135 cm (53 in) length – 133 N (30 lbf) force • Elbow actuator data
– 81 N-m (60 ft-lbf) actuator torque – 19.7 kg (43.3 lb) module mass
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
MODSS System Mass EstimatesComponent Mass (kg) Dexterous Manipulators 2x7 Grappling Arm 15 End Effectors 4x2 Pan/Tilt Unit 2 Power Systems 24 Avionics 6 Spacecraft Bus Structures 10 Propulsion System 5 Propellants 7 Margin 9
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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DYMAFLEX in Parabolic Flight
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Docking and Berthing• Docking: free-flight into a rigidizable connection
– Higher energy and misalignment – Greater autonomy for visiting vehicle – Always used for human vehicles
• Berthing: – Grapple by a manipulator – Moved into position for a rigid connection – Higher operational overhead – Greater precision and lower energy – Generally used for system assembly
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Apollo-Soyuz Docking Interface
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Androgynous Peripheral Attach System
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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APAS Test Hardware (JSC)
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Russian Probe-Drogue Docking System
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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International Docking System Face
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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IDS Side View
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IDS Soft Capture Features
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Crew Dragon Docking Interface
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IDS Maximum Loads
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Common Berthing Mechanism
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Common Berthing Mechanism
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CBM on Dragon 1 Cargo Vehicle
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CBM Nominal Hatch Size
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BEAM Reduced Hatch Size
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Artemis Hatch Requirement
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EVA-EXP-0070 HLS EVA Compatibility IRD
Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Contingency Requirements
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EVA-EXP-0070 HLS EVA Compatibility IRD
Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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ISS Cupola
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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Windows
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NASA-STD-3001, Vol. 2, Rev. B
Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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ISS Cupola Window Cross-Section
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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design
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How to Spend Your Time Off in ISS
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