Design of a SPDM-like robotic manipulator system for Space Station on orbit replaceable unit ground testing - an overview of the system architecture

Space Station is an international joint development project sponsored by the United States, Canada, Europe, and Japan. The Canadian designed special purpose dexterous manipulator (SPDM) is scheduled to maintain the Space Station and perform the on orbit replaceable unit (ORU) removal/insertion tasks. Johnson Space Center (JSC) of National Aeronautics and Space Administration (NASA) has been assigned as the lead center to integrate all Space Station sub-systems and to perform the ground testing of Space Station ORUs for robotic compatibilities. The Track Task robotic testing facility for ORUs was established for this purpose. The facility consists of a pair of hydraulic manipulators, special end-effectors and tools, video sub-system, multiprocessors controller, and the display and control workstation. This paper discusses the design and implementation of this facility