The systems engineering approach to the integration of the Space Station Remote Manipulator System on the International Space Station (ISS)

The Canadian Mobile Servicing System (MSS) is an integral part of the International Space Station. It provides robotic manipulation and other capabilities designed to support Space Station assembly, maintenance and utilization. The Space Station Remote Manipulator System (SSRMS) is a crucial component of the MSS used to support early Station assembly and maintenance. On the Space Station Freedom Program, the SSRMS was manifested aboard the U.S. Space Shuttle as part of a pre-integrated truss segment. Redesign of the Space Station during 1993 to reduce costs and to incorporate Russian elements led to a radically different assembly sequence. Pressurized elements are now launched first, with pre-integrated truss following later. The SSRMS is essential to early Space Station assembly prior to pre-integrated truss delivery, thus a new means to launch, deploy and operate the SSRMS was required. This paper describes the tradeoffs and various methods considered for launching the SSRMS. It describes in detail the selected option; that is to launch the SSRMS on the Space Shuttle using a qualified Spacelab pallet as the carrier. The Spacelab pallet is then attached to the Space Station Lab module prior to SSRMS deployment (a novel use for the Spacelab pallet). During early Space Station assembly the full assets of the distributed systems required to operate the SSRMS are not available. The paper describes options considered to provide power, data, video connectivity and control capability, and elaborates in detail on the selected architecture required to provide early SSRMS operability. Further, the paper describes the SSRMS on orbit deployment and checkout procedures and constraints which apply to the procedures such as limited extra-vehicular time, intra-vehicular time and power limitations. Finally, the critical role of the SSRMS to support Space Station assembly on subsequent Shuttle Eights which carry pre-integrated truss segments and other Station elements is summarized. Copyright (C) 1996 Elsevier Science Ltd.