Positioning leg from the ground up
1 August 2002
(update by Brian Roberts)
Below is a short video showing all six joints of the positioning leg being put together and a photo of the entire assembly. The video is at five times the normal
speed.
Click on the picture to start the video (3M QuickTime)
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Click on the picture for a larger image (1.1M)
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Positioning leg joint-by-joint motion
31 July 2002
(update by Walt Smith)
The positioning leg (PXL) moved today under 1553 in joint-by-joint control. We have the joints laying on their sides right now but we will soon have the whole
assembly put together on the pallet floor support structure (PFSS). So far the joints seem to behaving well having gone through a scaled back wear-in cycle.
The next step is to assemble all the sections of the PXL together and operate the system under Craig's controller. After that, slap on the head/arm assembly and
go for a swim. A video of each joint being actuated is below.
Special thanks to Wendy for doing allot of the soldering and electronics assembly; to Jean-Marc for figuring out connectors, routing wires, setting up testing,
figuring out encoder problems, etc. and to Stephen for getting the controller computer to talk to the hardware. The graphical simulation
needs a little tweaking, but it was pretty close to reality.
Click on the picture to start the video (1.4M QuickTime)
Visit by Congressman Rohrabacher
19 July 2002
Congressman Rohrabacher visited the Space Systems Laboratory and had a chance to operate the Ranger engineering arm. Below are a few pictures taken during his
visit.
Click on the picture for larger image (891K)
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Click on the picture for larger image (899K)
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Simulated grasp and transport of Hubble Space Telescope Fine Guidance Sensor handhold and Wide Field Planetary Camera handhold
5 July 2002
(update by Brian Roberts)
One of the tasks planned for the next
Hubble Space Telescope (HST) servicing mission is the changeout of one of HST's
three fine guidance sensors (FGS). After a handhold is installed on the
FGS by the astronauts, the handhold is used to guide the FGS along guide rails
and out of the telescope. The FGS is then temporarily stowed on the aft
fixture. The following photos and video show the Ranger engineering arm
playing the role of the aft fixture.
Photos (click on the pictures for larger images) |
Video (click on the picture to start the video) |
(765K)
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(763K)
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(786K)
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(2.4M QuickTime)
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Another task planned for the HST servicing mission is
the replacement of the wide field/planetary camera 2 (WFPC2) with a new wide
field camera 3 (WFC3). The WFPC handhold is installed on the new camera
before it is removed from its protective enclosure in the cargo by of the
shuttle. The following photos and video show the Ranger engineering arm
grasping and moving the WFPC handhold.
Photos (click on the picture for a larger image) |
Video (click on the picture to start the video) |
(765K)
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(665K)
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(2.9M QuickTime)
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Demonstration of the Ranger robot
manipulator arm
Engineering Research Building (near the
College Park Airport)
1 July 2002
6:00 - 8:00p m
(update by Dr. Russ Howard)
You are invited
to a demonstration of the Ranger robot manipulator arm
Monday, July 1 from 6:00 - 8:00 pm.
The location will be in Suite 4105 of the Engineering Research Building at the University of Maryland, College Park.
Ranger is a remotely-controlled robot designed for servicing satellites in space. In flight configuration, it would have
four manipulator arms. At present, one arm is fully functional in the laboratory.
This occasion is a chance for the Ranger development team to show off the fruits of their labors to family, friends and
interested bystanders.
Click for directions to the
Engineering Research Building or the official invitation. (100K PDF)
© 2003- Space Systems Laboratory
last updated: