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76-703: The MSS is composed of three components: The system can move along rails on the Integrated Truss Structure on top of the US provided Mobile Transporter cart which hosts the MRS Base System. The system's control software was written in the Ada 95 programming language . The MSS was designed and manufactured by MDA , (previously divisions of MacDonald Dettwiler Associates called MDA Space Missions , MD Robotics, and previously called SPAR Aerospace) for

152-762: A CMG on ESP-3, swapping it for a failed unit on the ITS-Z1 truss. That failed unit was placed on ESP-2 FRAM-5 until it was returned by STS-122.[12] Two spares – ELC-3 FRAM-4 (top side), ELC-3 FRAM-7 (keel side) Three spares – ESP-1 FRAM-2, ESP-2 FRAM-2 (top side), ELC-2 FRAM-2 (top side) Two spares – ESP-3 FRAM-6 (keel side), ELC-1 FRAM-4 (top side) Two spares – ESP-2 FRAM-4 (top side), ESP-2 FRAM-6 (keel side). First spare launched with ESP-2 (FRAM-4) on STS-114 , July 2005. Second spare launched on STS-120 , October 2007, installed on ESP-2 FRAM-6. First spare swapped for failed 1A/1B MBSU by Expedition 32 crew in August 2012;

228-485: A computer controlled motor/cable deployment system. Part of the station's external active thermal control system (EATCS), the HRS radiator rejects thermal energy via radiation. The LDU provides drive and stopping forces for the mobile transporter along the integrated truss structure rail. Plasma Contactor Unit (PCU) is used to disperse the electrical charge that builds up by providing an electrically conductive "ground path" to

304-643: A flight test version of its VASIMR ion thruster on the station to take over reboost duties. In 2013, the thruster module was intended to be placed on top of the Z1 truss in 2015. NASA and Ad Astra signed a contract for development of the VASIMR engine for up to three years in 2015. However, in 2015 NASA ended plans for flying the VF-200 to the ISS. A NASA spokesperson stated that the ISS "was not an ideal demonstration platform for

380-580: A forward-facing Manual Berthing Mechanism (MBM) ring. This MBM is not a port and is not pressurized or electrically powered, but it can be operated with a handheld tool to berth any passive CBM to it. The Z1 truss's MBM was used only once, to temporarily hold PMA-2 , while the Destiny lab was being berthed onto the Unity node during STS-98 . Since the installation of the nearby S0 truss in April 2002, access to

456-523: A nameplate capacity of 110  Ah (396,000  C ) (originally 81 Ah) and 4 kWh (14 MJ). This power is fed to the ISS via the BCDU and DCSU respectively. The batteries ensure that the station is never without power to sustain life-support systems and experiments. During the sunlight part of the orbit, the batteries are recharged. The nickel-hydrogen batteries had a design life of 6.5 years which means that they were replaced multiple times during

532-583: A scaled-up version of the Roll Out Solar Array , in two pairs, aboard the SpaceX Dragon 2 missions SpaceX CRS-22 , -26 and -28 . These arrays are more lightweight and generate more energy than the existing arrays. They are intended to be deployed along the central part of the wings up to two thirds of their length. Work to install support brackets for the new arrays on the P6 truss mast cans

608-478: A slower pace. Astronaut operators are used for time-critical operations such as visiting vehicle captures and robotics-supported extra-vehicular activity . Some time before 12 May 2021 Canadarm2 was hit by a small piece of orbital debris damaging its thermal blankets and one of the booms. Its operation appeared to be unaffected. Canadarm 2 will also help to berth the Axiom Space Station modules to

684-599: Is also used to unberth and release the spacecraft after use. On-board operators see what they are doing by looking at the three Robotic Work Station (RWS) LCD screens. The MSS has two RWS units: one in the Destiny module and the other in the Cupola . Only one RWS controls the MSS at a time. The RWS has two sets of control joysticks: one Rotational Hand Controller (RHC) and one Translational Hand Controller (THC). In addition to this

760-556: Is located between the P3 and P4 truss segments and the other is located between the S3 and S4 truss segments. When in operation, these joints continuously rotate to keep the solar array wings on the outboard truss segments oriented towards the Sun. Each SARJ is 10 feet in diameter, weighs approximately 2,500 pounds and can be rotated continuously using bearing assemblies and a servo control system. On both

836-516: Is made from stainless steel, titanium, and aluminum alloys. While the bulk of the Z1 truss is unpressurized, it features a Common Berthing Mechanism (CBM) port that connects its nadir to the zenith port of Unity and contains a small pressurized dome that allowed astronauts to connect electrical ground straps between Unity and the truss without an EVA. In addition, the dome inside the CBM of Z1 can be used as storage space. The Z1 truss also features

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912-483: Is the MBS Common Attachment System (MCAS). This is another type of attachment system that is used to host scientific experiments. The MBS also supports astronauts during extravehicular activities . It has locations to store tools and equipment, foot-restraints, handrails and safety tether attachment points as well as a camera assembly. If needed, it is even possible for an astronaut to "ride"

988-655: Is the Display and Control Panel (DCP) and the Portable Computer System (PCS) laptop. In recent years, the majority of robotic operations are commanded remotely by flight controllers on the ground at Christopher C. Kraft Jr. Mission Control Center , or from the Canadian Space Agency 's John H. Chapman Space Centre . Operators can work in shifts to accomplish objectives with more flexibility than when done by on-board crew operators, albeit at

1064-614: Is unable to carry anything with it unless Dextre is attached. Testing was done in the space simulation chambers of the Canadian Space Agency's David Florida Laboratory in Ottawa , Ontario. The manipulator was launched to the station on 11 March 2008 on STS-123 . The Mobile Remote Servicer Base System (MBS) is a base platform for the robotic arms. It was added to the station during STS-111 in June 2002. The platform rests atop

1140-638: Is used in tight spaces. A Modified Truncated Cone (MTC) Target is used to visually line up Dexter's arm to grab a fixture. Any ORU with a grapple fixture can be moved by the Canadarm2 . Three spares – ESP-2 FRAM-7 (keel side) FHRC SN1003, ESP-3 FRAM-2 (top side) FHRC SN1004, ELC-4 FRAM-5 (keel side) FHRC SN0005 delivered by HTV-2. Four original spares. Two unused Pump Modules remain – ELC-1 FRAM-7 (keel side) PM SN0007, ESP-2 FRAM-1 (top side) PM SN0005. Two utilised – ELC-2 FRAM-6 (keel side) PM SN0004 (Installed on ESP-2 FRAM-1 during STS-121, then removed by

1216-621: The Beta Gimbal Assembly (BGA) are used to rotate the arrays so that they face the Sun to provide maximum power to the International Space Station. Over time, the photovoltaic cells on the wings have degraded gradually, having been designed for a 15-year service life. This is especially noticeable with the first arrays to launch, with the P6 and P4 Trusses in 2000 and 2006. To augment the P6 truss' wings, in June 2021 and November 2022, NASA launched four of

1292-568: The Canadian Space Agency 's contribution to the International Space Station. Officially known as the Space Station Remote Manipulator System (SSRMS). Launched on STS-100 in April 2001, this second generation arm is a larger, more advanced version of the Space Shuttle 's original Canadarm . Canadarm2 is 17.6 m (58 ft) when fully extended and has seven motorized joints (an 'elbow' hinge in

1368-642: The ISS . Canadarm2 has two LEEs, one at each end. A LEE has 3 snare wires to catch the grapple fixture shaft. Another LEE is on the Mobile Base System's Payload ORU Accommodations (POA) unit. The POA LEE is used to temporarily hold large ISS components. One more is on the Special Purpose Dexterous Manipulator (SPDM, also known as "Dextre" or "Canada hand"). Six LEEs have been manufactured and used in various locations on

1444-570: The International Space Station (ISS) consists of a linear arranged sequence of connected trusses on which various unpressurized components are mounted such as logistics carriers, radiators , solar arrays , and other equipment. It supplies the ISS with a bus architecture. It is approximately 110 meters long and is made from aluminium and stainless steel . All truss components were named after their planned end-positions: Z for zenith, S for starboard and P for port, with

1520-554: The Mobile Transporter (installed on STS-110 , designed by Northrop Grumman in Carpinteria, CA ), which allows it to glide 108 metres down rails on the station's main truss . Canadarm2 can relocate by itself, but can't carry at the same time, Dextre can't relocate by itself. The MBS gives the two robotic arms the ability to travel to work sites all along the truss structure and to step off onto grapple fixtures along

1596-506: The Early External Active Thermal Control System (EEATCS). One EEATCS spare on ITS-P6 swapped out for a leaky unit on the 2B power channel during an Exp 35 EVA May 11, 2013. Other EEATCS spare developed electrical fault and was replaced by an additional spare launched on SpaceX CRS-14 . The TUS reel assembly (TUS-RA) is basically a large spool much like a garden hose reel that pays out cable when

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1672-934: The Exp 24 crew to replace the failed original PM SN0002 on the S1 truss. SN0002 was returned to earth by the STS-135 crew. SN0004 replaced by PM SN0006 and moved to MT POA by Exp 38 crew in Dec. 2013. Relocated to ESP-2 FRAM-1 by ISS-41 EVA-27 in Oct. 2014. Swapped positions with SN0005 by SPDM in Mar. 2015.); ESP-3 FRAM-3 (top side) PM SN0006 (Installed on ESP-3 FRAM-3 during STS-127, swapped with failed PM SN0004 from S1 truss by Exp 38 crew Dec. 2013). Two spares – ELC-1 FRAM-9 (keel side), ELC-3 FRAM-5 (keel side) Also note – other than these two spares, two other Shuttle missions brought up new ATAs and then returned

1748-462: The ISS Li-ion batteries have been designed for 60,000 cycles and ten years of lifetime, much longer than the original Ni-H2 batteries' design life span of 6.5 years. The Mobile Base System (MBS) is a platform (mounted on the Mobile Transporter ) for the robotic arms Canadarm2 and Dextre carrying them 108 metres down rails between the S3 and P3 truss. Beyond the rails Canadarm2 can step over

1824-476: The ISS also has two Strela cargo cranes. One of the cranes could be extended to reach the end of Zarya . The other could extend to the opposite side and reach the end of Zvezda . The first crane was assembled in space during STS-96 and STS-101 . The second crane was launched alongside Pirs itself. The cranes were later moved to the docking compartment Poisk and Zarya module. Integrated Truss Structure The Integrated Truss Structure ( ITS ) of

1900-408: The ISS on STS-122 . In 2007, a problem was detected in the starboard SARJ and in one of the two beta gimbal assemblies (BGA). Damage had occurred due to excessive and premature wear of a track in the joint mechanism. The SARJ was frozen during problem diagnosis, and in 2008 lubrication was applied to the track to address the issue. The sequential shunt unit (SSU) is designed to coarsely regulate

1976-839: The ISS via EVAs. Also, three flights of the Integrated Cargo Carrier (ICC) which remained in the cargo bay on flights STS-102 , STS-105 and STS-121 ; one use of the ICC-Lite on STS-122 (a shortened version of the ICC); two uses of the ICC-Vertical Light Deployable on STS-127 as ICC-VLD and STS-132 as ICC-VLD2, which were deployed and retrieved during the mission; and five uses of the Lightweight MPESS Carrier (LMC) on STS-114 , STS-126 , STS-128 , STS-131 and STS-135 ,

2052-416: The ISS. The Special Purpose Dexterous Manipulator, or " Dextre ", is a smaller two-armed robot that can attach to Canadarm2, the ISS, or the Mobile Base System. The arms and their power tools are capable of handling delicate assembly tasks and changing Orbital Replacement Units (ORUs) currently handled by astronauts during spacewalks. Although Canadarm2 can move around the station in an "inchworm motion", it

2128-678: The ITS to rotate and track the Sun . A component of the DLA is a pinion which engages with the race ring that serves as a bull gear . There are two race rings and two DLAs in each SARJ providing on-orbit redundancy, however a series of space walks would be required to reposition the DLAs and the Trundle Bearing Assemblies (TBAs) to utilize the alternate race ring. A spare DLA was brought to

2204-691: The LMC was not designed to be deployed and remained in the shuttle payload bay throughout the flight. To date other than the Space Shuttle missions, only one other mode of transportation of ORUs was utilised by the station, the Japanese cargo vessel HTV-2 delivered an FHRC and CTC-4 via its Exposed Pallet (EP), and HTV-4 delivered a Main Bus Switching Unit (MBSU) and a Utility transfer assembly (UTA). Orbital replacement units are parts of

2280-631: The MBM has been blocked. In October 2007, the P6 truss element was disconnected from Z1 and moved to P5; P6 will now be permanently connected with P5. The Z1 truss is now solely used to house the CMGs, communications equipment, and the plasma contactors; furthermore, Z1 connects now solely to Unity (Node 1) and no longer houses other space station elements. In December 2008, the Ad Astra Rocket Company announced an agreement with NASA to place

2356-518: The MBS while it moves at a top speed of about 1.5 meters per minute. On either side of the MBS are the Crew and Equipment Translation Aids. These carts ride on the same rails as the MBS. Astronauts ride them manually during EVAs to transport equipment and to facilitate their movements around the station. Installed on May 27, 2011, is a 15.24 meter (50-foot) boom with handrails and inspection cameras, attached to

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2432-452: The MT moves away and rolls it back up as the MT returns to the center of the truss. This is the same TUS-RA retrieved during STS-121 . It was replaced and this failed unit was returned to earth and refurbished to later fly on ELC-2. The Heat Rejection Subsystem (HRS) consists of a base, eight panels, torque panel, torque arm, an interconnected fluid system, a scissors-type deployment mechanism and

2508-592: The P4 and S4 Trusses. In June 2023, astronauts Stephen Bowen and Warren Hoburg of Expedition 69 installed the third set of brackets and arrays, one each on the S6 and S4 Trusses. A final set of arrays will be installed on the P4 and S6 trusses in 2025. The Alpha joint is the main rotary joint allowing the solar arrays to track the sun; in nominal operation the alpha joint rotates by 360° each orbit (however, see also Night Glider mode ). One Solar Alpha Rotary Joint (SARJ)

2584-415: The P6 and S6 trusses, respectively. The P3/P4 and S3/S4 truss assemblies' length was limited by the cargo bay capacity of the Space Shuttle , so these small (3.37 m long) connectors are needed to extend the truss. The P5 truss was installed on December 12, 2006, during the first EVA of mission STS-116 . The S5 truss was brought into orbit by mission STS-118 and installed on August 11, 2007. The P6 truss

2660-456: The P6 truss from Z1, remounted it on the P5 truss, redeployed its radiator panels, and attempted to redeploy its SAWs. One SAW (2B) was deployed successfully but the second SAW (4B) developed a significant tear that temporarily stopped deployment at around 80%. This was subsequently fixed and the array is now fully deployed. A later assembly mission (the out of sequence STS-119 ) mounted the S6 truss on

2736-781: The S0 truss and contain carts to transport the Canadarm2 and astronauts to worksites along with the space station. They each flow 290 kg (637 lb) of anhydrous ammonia through three heat rejection radiators. The S1 truss was launched on STS-112 in October 2002 and the P1 truss was launched on STS-113 in November 2002. Detailed design, test, and construction of the S1 and P1 structures were conducted by McDonnell Douglas (now Boeing) in Huntington Beach, CA. First parts were cut for

2812-456: The S5 truss, which provided a fourth and final set of solar arrays and radiators. Years later, iROSA 1 and 2 was added in front of Old 4B and 2B solar arrays on P6 truss and iROSA 6 was added in front of Old 1B solar array on S6 truss in June 2021 and June 2023 respectively. The International Space Station 's main source of energy is from the four large U.S.-made photovoltaic arrays currently on

2888-498: The Space Shuttle. Major P3 and S3 subsystems include the Segment-to-Segment Attach System (SSAS), Solar Alpha Rotary Joint (SARJ), and Unpressurized Cargo Carrier Attach System (UCCAS). The primary functions of the P3 truss segment are to provide mechanical, power and data interfaces to payloads attached to the two UCCAS platforms; axial indexing for solar tracking, or rotating of the arrays to follow

2964-488: The Space Station in an inchworm -like movement. In this movement, it is limited only by the number of Power Data Grapple Fixtures (PDGFs) on the station. PDGFs located around the station provide power, data and video to the arm through either of its two Latching End Effectors (LEEs). The arm can also travel the entire length of the space station truss using the Mobile Base System. In addition to moving itself around

3040-433: The Z1 truss. Next, the S0 truss was mounted atop the Destiny module. The other truss elements were attached sequentially to either side of S0. As the truss neared completion, the P6 truss was relocated from Z1 to the end of P5. Orbital replacement unit Orbital replacement units (or on-orbit replaceable unit ) ( ORUs ) are key elements of the International Space Station that can be readily replaced when

3116-528: The alpha rotary joint and relocate to grapple fixtures on the S6 and P6 truss. During STS-120 Astronaut Scott Parazynski rode the Orbiter Boom Sensor to repair a tear in the 4B solar array. The first truss segment to be launched was Z1, which was mounted to the Unity module's zenith (facing away from Earth) Common Berthing Mechanism . It was followed by P6, which was mounted atop (zenith side)

Mobile Servicing System - Misplaced Pages Continue

3192-538: The cargo bay, some that were deployed and retrieved and other pallets that were designed to be removed from the payload bay by RMS and placed onto the station. Deployable pallet flights included STS-102 with External Stowage Platform ESP-1, STS-114 with ESP-2, STS-118 with ESP-2, STS-129 with ExPRESS Logistics Carrier ELC-1 and ELC-2, STS-133 with ELC-4 and STS-134 with ELC-3. Other modes of ORU delivery included: Payload bay sidewall mounted ORUs, such as BCDUs, were regularly carried and transported to

3268-422: The deployment mast in between. Each blanket has 16,400 silicon photovoltaic cells , each cell measuring 8 cm x 8 cm, grouped into 82 active panels, each consisting of 200 cells, with 4,100 diodes . Each pair of blankets was folded like an accordion for compact delivery to space. Once in orbit, the deployment mast between each pair of blankets unfolds the array to its full length. Gimbals , known as

3344-566: The desired performance level of the engines". (An example of a spacecraft that used an ion thruster to maintain its orbit was the Gravity Field and Steady-State Ocean Circulation Explorer , whose engine allowed it to maintain a very low orbit.) The S0 truss, (also called the Center Integrated Truss Assembly Starboard 0 Truss ) forms the central backbone of the Space Station. It was attached on

3420-767: The end of Canadarm2. The station received a second robotic arm during STS-124 , the Japanese Experiment Module Remote Manipulator System (JEM-RMS). The JEM-RMS is primarily used to service the JEM Exposed Facility . An additional robotic arm, the European Robotic Arm (ERA) was launched alongside the Russian-built Multipurpose Laboratory Module on July 15, 2021. Originally connected to Pirs,

3496-568: The expected 30-year life of the station. The batteries and the battery charge/discharge units are manufactured by Space Systems/Loral (SS/L), under contract to Boeing . Ni-H2 batteries on the P6 truss were replaced in 2009 and 2010 with more Ni-H2 batteries brought by Space Shuttle missions. The nickel-hydrogen batteries had a design life of 6.5 years and could exceed 38,000 charge/discharge cycles at 35% depth of discharge. Each battery measured 40 by 36 by 18 inches (102 by 91 by 46 cm) and weighed 375 pounds (170 kg). From 2017 to 2021,

3572-442: The failed ATAs: STS-128 ATA SN0004 up/SN0002 down (P1 truss original ATA) and STS-131 SN0002 up/SN0003 down (S1 truss original ATA). Two spares – ELC-1 FRAM-6 (keel side) NTA SN0002 (refurbished) ELC-2 FRAM-9 (keel side) NTA SN0003 (refurbished) Also note – other than these two spares, two other Shuttle missions replaced NTAs. STS-122 delivered new NTA SN0004 and then returned the depleted P1 Truss NTA SN0003. STS-124 swapped

3648-514: The failed MBSU was initially stored on ESP-2 FRAM-4, then moved to ELC-2 FRAM-1 in January 2013. Third spare delivered by HTV-4 in August 2013, installed on ESP-2 FRAM-4. 2A/2B MBSU failed and was replaced by Dextre with third spare in May 2017. Failed 2A/2B unit was brought inside via JEM airlock in August 2017, repaired, returned to ESP-2 FRAM-4 in November 2017. 3A/3B MBSU failed in April 2019 and

3724-745: The main systems and subsystems of the external elements of the ISS. Affecting the control of the cooling system, the movement and control of the solar arrays and SARJ as well as the flow of power throughout the station from solar arrays to the heat rejection system as part of the External Active Thermal Control System (EATCS). As well as storage tanks for oxygen as part of the station Environmental Control and Life Support System (ECLSS). ORUs can be hardware such as radiators, or simply batteries or communication antennas, essentially any element that can readily be removed and replaced when required. The replaceable modular nature of

3800-406: The middle, and three rotary joints at each of the 'wrist/shoulder' ends). It has a mass of 1,800 kg (4,000 lb) and a diameter of 35 cm (14 in) and is made from titanium. The arm is capable of handling large payloads of up to 116,000 kg (256,000 lb) and was able to assist with docking the space shuttle. It is self-relocatable and can move end-over-end to reach many parts of

3876-715: The new NTA SN0005 from ESP-3 FRAM 2 with the depleted NTA SN0002 from the S1 Truss. The STS-126 crew returned this depleted NTA. One spare – ELC-3 FRAM-6 (keel side), one depleted tank ELC-2 FRAM-4 (top side) Note the depleted tank was swapped with the original HPGTA launched on ELC-2 at FRAM-4. Three units – CTC-3 formerly on ELC-2 FRAM-2 (top side), was later moved to ESP-2 FRAM-3 via SPDM. CTC-2 on ELC-4 FRAM-2 (keel side), CTC-5 on ELC-3 FRAM-1 (top side) Two spares – ESP-3 FRAM-1 (top side), ESP-2 FRAM-5 (keel side) Two spares – ELC-1 FRAM-5 (top side) CMG SN104, ELC-2 FRAM-5 (top side) CMG SN102 Note: STS-118 crew delivered

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3952-418: The nickel-hydrogen batteries were replaced by lithium-ion batteries . On January 6, 2017, Expedition 50 members Shane Kimbrough and Peggy Whitson began the process of converting some of the oldest batteries on the ISS to the new lithium-ion batteries. Expedition 64 members Victor J. Glover and Michael S. Hopkins concluded the campaign on February 1, 2021. There is a number of differences between

4028-801: The number indicating the sequential position. The S0 truss might be considered a misnomer, as it is mounted centrally on the zenith position of Destiny and is neither starboard nor port side. ISS truss segments were fabricated by Boeing in its facilities at Huntington Beach, California (formerly McDonnell Douglas), Michoud Assembly Facility in New Orleans, Louisiana , Marshall Space Flight Center in Huntsville, Alabama , and in Tulsa, Oklahoma . The trusses were then transported or shipped to Kennedy Space Center's Space Station Processing Facility for final assembly and checkout. The structural framework

4104-653: The output voltage below 200 V DC maximum for all operating conditions. This power is then passed through the BMRRM to the DCSU located in the IEA. The SSU measures 32 by 20 by 12 inches (81 by 51 by 30 cm) and weighs 185 pounds (84 kg). Each battery assembly, situated on the S4, P4, S6, and P6 Trusses, consists of 24 lightweight lithium-ion battery cells and associated electrical and mechanical equipment. Each battery assembly has

4180-419: The payloads that might be held by them. The MBS also has two locations to attach payloads. The first is the Payload/Orbital Replacement Unit Accommodations (POA). This is a device that looks and functions much like the Latching End Effectors of Canadarm2. It can be used to park, power and command any payload with a grapple fixture, while keeping Canadarm2 free to do something else. The other attachment location

4256-409: The port and starboard sides, all of the power flows through the Utility Transfer Assembly (UTA) in the SARJ. Roll ring assemblies allow transmission of data and power across the rotating interface so it never has to unwind. The SARJ was designed, built, and tested by Lockheed Martin and its subcontractors. The Solar Alpha Rotary Joints contain Drive Lock Assemblies which allow the outer segments of

4332-481: The solar power collected during periods of insolation—when the arrays collect power during sun-pointing periods. A sequence of 82 separate strings, or power lines, leads from the solar array to the SSU. Shunting, or controlling, the output of each string regulates the amount of power transferred. The regulated voltage setpoint is controlled by a computer located on the IEA and is normally set to around 140  volts. The SSU has an overvoltage protection feature to maintain

4408-424: The space station. Another objective of the Z1 truss was to serve as a temporary mounting position for the "P6 truss and solar array" until its relocation to the end of the P5 truss during STS-120. Though not a part of the main truss, the Z1 truss was the first permanent lattice-work structure for the ISS, very much like a girder, setting the stage for the future addition of the station's major trusses or backbones. It

4484-400: The station allows its life to be extended well beyond its initial design life, theoretically. ORUs to be handled by Dextre have attachments designed to be gripped with the ORU/Tool Changeout Mechanisms (OTCM) on the end of each arm. The H‐fixture is for massive objects and/or to stabilize Dextre , the most common is a Micro‐fixture (also known as a Micro‐square) and the Micro‐Conical Fitting

4560-536: The station got an electrical rewiring. The third pair of arrays was installed during STS-117 in June 2007. A final pair arrived in March 2009 on STS-119 . More solar power was to have been available via the Russian -built Science Power Platform , but it was canceled. Each of the Solar Array Wings are 34 m (112 ft) long by 12 m (39 ft) wide, have roughly 1,100 kg (2,400 lb) of mass, and are capable of generating nearly 30 kW of DC power. They are split into two photovoltaic blankets, with

4636-489: The station, sometimes referred to as the Solar Array Wings (SAW). The first pair of arrays are attached to the P6 truss segment, which was launched and installed on top of Z1 in late 2000 during STS-97 . The P6 segment was relocated to its final position, bolted to the P5 truss segment, in November 2007 during STS-120 . The second pair of arrays was launched and installed in September 2006 during STS-115 , but they didn't provide electricity until STS-116 in December 2006 when

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4712-413: The station, the arm can move any object with a grapple fixture . In construction of the station the arm was used to move large segments into place. It can also be used to capture unpiloted ships like the SpaceX Dragon , the Cygnus spacecraft , and Japanese H-II Transfer Vehicle (HTV) which are equipped with a standard grapple fixture which the Canadarm2 uses to capture and berth the spacecraft. The arm

4788-423: The structure in 1996, and delivery of the first truss occurred in 1999. The P2 and S2 trusses were planned as locations for rocket thrusters in the original design for Space Station Freedom . Since the Russian parts of the ISS also provided that capability, the reboost capability of the Space Station Freedom design was no longer needed at that location. As such, P2 and S2 were canceled. The P3/P4 truss assembly

4864-413: The sun, via the SARJ; movement and worksite accommodations for the Mobile Transporter . The P3/S3 primary structure is made of a hexagonal-shaped aluminum structure and includes four bulkheads and six longerons . The S3 truss also supports EXPRESS Logistics Carrier locations, first to be launched and installed in the 2009 time frame. Major subsystems of the P4 and S4 Photovoltaic Modules (PVM) include

4940-469: The three external stowage platforms (ESPs) or the four ExPRESS Logistics Carriers (ELCs) mounted on the Integrated Truss Structure (ITS). While spare parts/ORUs were routinely brought up and down during the ISS life-time via Space Shuttle resupply missions, there was a heavy emphasis once the Station was considered complete. Several Shuttle missions were dedicated to the delivery of ORUs using support carrier structures/pallets of which some remained in

5016-430: The top of the Destiny Laboratory Module during STS-110 in April 2002. S0 is used to route power to the pressurized station modules and conduct heat away from the modules to the S1 and P1 Trusses. The S0 truss is not docked to the ISS but is connected with four Module to Truss Structure (MTS) stainless steel struts. The P1 and S1 trusses (also called the Port and Starboard Side Thermal Radiator Trusses ) are attached to

5092-474: The two Solar Array Wings (SAW), the Photovoltaic Radiator (PVR), the Alpha Joint Interface Structure (AJIS), and Modified Rocketdyne Truss Attachment System (MRTAS), and Beta Gimbal Assembly (BGA). Years later, iROSA 3 and 4 was added in front of Old 3A and 4A solar arrays on S4 and P4 truss respectively and iROSA 5 was added in front of Old 1B solar array on S4 truss in December 2022 and June 2023 respectively. The P5 and S5 trusses are connectors that support

5168-444: The two battery technologies. One difference is that the lithium-ion batteries can handle twice the charge, so only half as many lithium-ion batteries were needed during replacement. Also, the lithium-ion batteries are smaller than the older nickel-hydrogen batteries. Although Li-ion batteries typically have shorter lifetimes than Ni-H2 batteries as they cannot sustain as many charge/discharge cycles before suffering notable degradation,

5244-405: The unit either passes its design life or fails. ORUs are parts of the main systems and subsystems of the external elements of the ISS, none are intended to be installed inside the pressurised modules. Examples of ORUs are: pumps, storage tanks, controller boxes, antennas, and battery units. Such units are replaced either by astronauts during EVA or by the Dextre (SPDM) robotic arm. All are stored on

5320-413: The way. When Canadarm2 and Dextre are attached to the MBS, they have a combined mass of 4,900 kg (10,800 lb). Like Canadarm2 it was built by MD Robotics and it has a minimum service life of 15 years. The MBS is equipped with four Power Data Grapple Fixtures , one at each of its four top corners. Any of these can be used as a base for the two robots, Canadarm2 and Dextre, as well as any of

5396-403: Was initiated by the members of Expedition 64 . Work to install and deploy the first two arrays themselves on the P6 brackets was successfully conducted over three spacewalks by Shane Kimbrough and Thomas Pesquet of Expedition 65 . In November and December 2022, astronauts Francisco Rubio and Josh A. Cassada of Expedition 68 installed the second set of brackets and arrays, one each on

5472-493: Was installed by the Space Shuttle Atlantis STS-115 mission, launched September 9, 2006, and attached to the P1 segment. The P3 and P4 segments together contain a pair of solar arrays , a radiator, and a rotary joint that will aim the solar arrays, and connects P3 to P4. Upon its installation, no power was flowing across the rotary joint, so the electricity generated by the P4 solar array wings

5548-419: Was made using several manufacturing processes, including the investment casting , steel hot rolling , friction-stir, and TIG welding processes. The first truss piece, the Z1 truss, launched aboard STS-92 in October 2000. It contains the control moment gyroscope (CMG) assemblies, electrical wiring, communications equipment, and two plasma contactors designed to neutralize the static electrical charge of

5624-493: Was only being used on the P4 segment and not the rest of the station. Then in December 2006, a major electrical rewiring of the station by STS-116 routed this power to the entire grid. The S3/S4 truss assembly—a mirror-image of P3/P4—was installed on June 11, 2007 also by Space Shuttle Atlantis during flight STS-117 , mission 13A and mounted to the S1 truss segment. It is the heaviest station-bound module ever launched by

5700-612: Was replaced in May by the repaired former 2A/2B MBSU, with the 3A/3B unit stored on ESP-2 FRAM-4. Former 1A/1B unit brought inside and repaired in August 2019, then swapped into ESP-2 FRAM-4 for the former 3A/3B unit, which was brought inside in September 2019 and returned to Earth on board SpaceX CRS-19 . Two spares – ESP-2 FRAM-8 (keel side) ELC-4 FRAM-4 (keel side) Utility Transfer Assembly (delivered by HTV-4 EP via SPDM Aug. 2013) Three original spares, now two available spares – ESP-1 FRAM-1 plus 2 on ITS-P6 that were initially used by

5776-581: Was the second truss segment to be added because it contains a large Solar Array Wing (SAW) that generated essential electricity for the station, prior to activation of the SAW on the P4 truss. It was originally mounted to the Z1 truss and had its SAW extended during STS-97 , but the SAW was folded, one half at a time, to make room for the SAWs on the P4 and S4 trusses, during STS-116 and STS-117 respectively. Shuttle mission STS-120 (assembly mission 10A ) detached

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