Remote Manipulator System (RMS)
The Shuttle's RMS is 15.3 m long , 38 cm in diameter, and weighs 408 kg. It has six joints that correspond roughly to the joints of the human arm, with shoulder yaw and pitch joints, an elbow pitch joint, and wrist pitch, yaw, and roll joints. The end effector is the unit at the end of the wrist that actually grabs, or grapples, the payload. Two lightweight boom segments, called the upper and lower arms, connects the shoulder and elbow joints, and the elbow and wrist joints, respectively. The Shuttle RMS can handle payloads with masses up to 29,500
The 17.6-m-long RMS fitted to the ISS in April 2001 is crucial to the rest of the Space Station's assembly. It forms the main component of the Mobile Service System (MSS) for moving equipment and supplies around the ISS, supporting astronauts working in space, and servicing instruments and other payloads attached to the Station. The other parts of the MSS are the Special Purpose Dextrous Manipulator (SPDM), a small, highly advanced detachable two-armed robot that can be placed on the end of the RMS for doing detailed assembly and maintenance work, and the Mobile Remote Service Base System (MRSBS), a movable platform for the RMS and SPDM that slides along rails on the Station's main truss structure.
Related category• MANNED SPACEFLIGHT
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