The European Robotic Arm: A High-Performance Mechanism Finally on its way to Space

This paper describes the design and qualification of the European Robotic Arm (ERA), which is planned to be launched by the end of 2015. After years of changes, a shift of launcher and new loads, launch preparation is underway. The European Robotic Arm ERA has been designed and manufactured by Dutch Space and its subcontractors such as Astrium, SABCA and Stork with key roles for the mechanical aspects. The arm was originally designed to be launched by the STS (mounted on a Russian module for the ISS) in 2001. However, due to delays and the STS disaster, a shift was made to the Russian Proton rocket. ERA will be launched on the Multipurpose Laboratory Module (MLM). This module, which is now planned for launch to the ISS in 2015, will carry the ERA. The symmetrical design of the arm with a complete 3 degree-offreedom wrist and general-purpose end effector on both sides, allows ERA to relocate on the station by grappling a new base point and releasing the old one, and move to different working locations. ERA Overall Design Description The arm consists of 2 limbs which are connected by motorized hinges. The arm has an end effector which has the possibility of grabbing Space Station components for transport or tools for support of EVA activity. This end effector includes other features such as electrical connections and a mechanical drive that can operate like a wrench tool. The arm is symmetrically designed, meaning that the arm shoulder joints and wrist joints are identical. This allows the arm to “walk” fully autonomously from base point to base point on part of the ISS. This “walking” arm capability allows it to reach remote grapple points. The arm structural capability enables it to move 8000-kg payloads. The arm is controlled by an integrated computer and has a camera vision system for close proximity operations and can provide camera images of the working area. Figure 1. Overall ERA arm architecture * Dutch Space BV, Leiden, The Netherlands Proceedings of the 42 Aerospace Mechanisms Symposium, NASA Goddard Space Flight Center, May 14-16, 2014 wrist elbow