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European Robotic Arm
The European Robotic Arm (ERA) is a robotic arm that is attached to the Russian Orbital Segment (ROS) of the International Space Station. Launched to the ISS in July 2021; it is the first robotic arm that is able to work on the Russian Segment of the station. The arm supplements the two Russian Strela cargo cranes that were originally installed on the Pirs module, but were later moved to the docking compartment Poisk and Zarya module.
The ERA was developed for the European Space Agency (ESA) by a number of European space companies. Airbus Defence and Space Netherlands (formerly Dutch Space) designed and assembled the arm and was the prime contractor; it worked along with subcontractors in 8 countries. In 2010, a spare elbow joint for the arm and ERA's Portable Workpost was launched preemptively, attached to Rassvet or Mini Research Module 1(MRM-1). The Nauka Module and Prichal module serves as home base for ERA; originally, the arm was going to be attached to the canceled Russian Research Module and later to the also canceled Science Power Platform.
The European Robotic arm consists of two 'limbs' that are symmetrical sections made primarily of carbon fibre reinforced plastic, and are approximately 5 m (16 ft) long. At either end of the arm are identical gripper mechanisms called End Effectors (EES), which the arm uses to hold onto the station, grab onto payloads, and to assist in EVA activities. In total there are seven motorized joints, three are located at each of the wrists, and allow for roll, yaw, and pitch movements, giving 7 degrees of freedom of movement. The elbow consists of one motorized joint, which is limited to pitch movements. The arm is controlled by the ERA Control Computer (ECC), or On Board Computer (OBC) which is located towards the elbow. The two limb design of the arm gives it the ability to 'walk' around the exterior of the Russian segment of the station under its own control, moving hand-over-hand between the pre-fixed base points.
When fully extended the arm has a total length of 11.3 m (37 ft), and can reach 9.7 metres (32 ft) and has 7 degrees of freedom. It has a mass of 630 kilograms (1,390 lb) and can hold a total payload mass of 8,000 kilograms (18,000 lb). The arm's tip can reach a speed of 0.1 metres per second (0.33 ft/s) and has an accuracy of 5 mm (0.20 in). The European Robotics Arm itself was designed to be serviceable with spare parts kept outside Rassvet module and allow for the exchange of large parts via EVA in case of failure or an emergency situation. These parts are called EVA Replaceable Units (ERUs), also referred to as Orbital Replacement Units (ORUs), which can all be replaced in-orbit; the ERA is composed of three ERU sections. The arm is wrapped with beta cloth blankets for thermal protection.
On average the arm uses 475 watts of power to operate while having a peak operational power consumption of 800 watts. When on standby the arm only consumes 420 watts, and 250 watts while in hibernation.
Located at either end of the arm are the End Effector Subsystems (EES). The EES is designed to attach specifically with the base points located on the Russian segment of the station. Since the ROS uses different base points than the US Orbital Segment, the arm is unable to operate and access the other parts of the station. The EES consists of two Basic End Effectors (BEE) that connect to Base Points (BP) and Grapple Fixtures (GF). During normal operations, one end effector is connected to a base point on the station, this provides a sufficiently stiff connection between the station and ERA, as well as enabling the transmission of power, data and video signals for operation of the ERA. At the same time, the second end effector provides mechanical and electrical power to the grappled objects, and allows for data transfer. Both of the end effectors are also capable of measuring torques/forces as well as contain a Camera and Lighting Unit (CLU) which aids in the control of the arm; an additional two CLUs are located on both limbs.
Located within each of the end effectors' lower compartment is an integrated servicing tool. It is used to provide torque for a grappled object, acting like a wrench. It is capable of screwing and unscrewing bolts. The IST head starts with rotating slowly at first upon system comment, until popping into the IST head receptacle, which allows it to provide the mechanical power to the screw interface.
The ERA is controlled from a central computer called the ERA control computer. Control is assisted by the additional microprocessors located in the different subsystems.
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European Robotic Arm
The European Robotic Arm (ERA) is a robotic arm that is attached to the Russian Orbital Segment (ROS) of the International Space Station. Launched to the ISS in July 2021; it is the first robotic arm that is able to work on the Russian Segment of the station. The arm supplements the two Russian Strela cargo cranes that were originally installed on the Pirs module, but were later moved to the docking compartment Poisk and Zarya module.
The ERA was developed for the European Space Agency (ESA) by a number of European space companies. Airbus Defence and Space Netherlands (formerly Dutch Space) designed and assembled the arm and was the prime contractor; it worked along with subcontractors in 8 countries. In 2010, a spare elbow joint for the arm and ERA's Portable Workpost was launched preemptively, attached to Rassvet or Mini Research Module 1(MRM-1). The Nauka Module and Prichal module serves as home base for ERA; originally, the arm was going to be attached to the canceled Russian Research Module and later to the also canceled Science Power Platform.
The European Robotic arm consists of two 'limbs' that are symmetrical sections made primarily of carbon fibre reinforced plastic, and are approximately 5 m (16 ft) long. At either end of the arm are identical gripper mechanisms called End Effectors (EES), which the arm uses to hold onto the station, grab onto payloads, and to assist in EVA activities. In total there are seven motorized joints, three are located at each of the wrists, and allow for roll, yaw, and pitch movements, giving 7 degrees of freedom of movement. The elbow consists of one motorized joint, which is limited to pitch movements. The arm is controlled by the ERA Control Computer (ECC), or On Board Computer (OBC) which is located towards the elbow. The two limb design of the arm gives it the ability to 'walk' around the exterior of the Russian segment of the station under its own control, moving hand-over-hand between the pre-fixed base points.
When fully extended the arm has a total length of 11.3 m (37 ft), and can reach 9.7 metres (32 ft) and has 7 degrees of freedom. It has a mass of 630 kilograms (1,390 lb) and can hold a total payload mass of 8,000 kilograms (18,000 lb). The arm's tip can reach a speed of 0.1 metres per second (0.33 ft/s) and has an accuracy of 5 mm (0.20 in). The European Robotics Arm itself was designed to be serviceable with spare parts kept outside Rassvet module and allow for the exchange of large parts via EVA in case of failure or an emergency situation. These parts are called EVA Replaceable Units (ERUs), also referred to as Orbital Replacement Units (ORUs), which can all be replaced in-orbit; the ERA is composed of three ERU sections. The arm is wrapped with beta cloth blankets for thermal protection.
On average the arm uses 475 watts of power to operate while having a peak operational power consumption of 800 watts. When on standby the arm only consumes 420 watts, and 250 watts while in hibernation.
Located at either end of the arm are the End Effector Subsystems (EES). The EES is designed to attach specifically with the base points located on the Russian segment of the station. Since the ROS uses different base points than the US Orbital Segment, the arm is unable to operate and access the other parts of the station. The EES consists of two Basic End Effectors (BEE) that connect to Base Points (BP) and Grapple Fixtures (GF). During normal operations, one end effector is connected to a base point on the station, this provides a sufficiently stiff connection between the station and ERA, as well as enabling the transmission of power, data and video signals for operation of the ERA. At the same time, the second end effector provides mechanical and electrical power to the grappled objects, and allows for data transfer. Both of the end effectors are also capable of measuring torques/forces as well as contain a Camera and Lighting Unit (CLU) which aids in the control of the arm; an additional two CLUs are located on both limbs.
Located within each of the end effectors' lower compartment is an integrated servicing tool. It is used to provide torque for a grappled object, acting like a wrench. It is capable of screwing and unscrewing bolts. The IST head starts with rotating slowly at first upon system comment, until popping into the IST head receptacle, which allows it to provide the mechanical power to the screw interface.
The ERA is controlled from a central computer called the ERA control computer. Control is assisted by the additional microprocessors located in the different subsystems.
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