Dextre

NASA. Public domain (NASA / US government work).

Overview

Dextre, formally the Special Purpose Dexterous Manipulator, is a two-armed manipulator that mounts on Canadarm2 or on a station grapple fixture and performs maintenance that would otherwise require a spacewalk. It was required to insert and extract orbital replacement units, actuate hinge-like mechanisms on the truss, and manipulate and inspect payloads, reducing the need for costly and hazardous extravehicular activity [1].

Specifications

Parameter	Value	Source
Arms	2, 7 joints each	[1], [2]
Arm reach	3.3 m straight-arm	[1]
Payload capacity per arm	600 kg	[2], [1]
Body roll joint	1 DOF at the waist	[2]
Motion resolution requirement	2 mm	[2]
Joints total, including the flight spare arm	21	[3]

Mission profile

Parameter	Value	Source
Host	International Space Station, on Canadarm2 or a station grapple fixture	[2]
Launch configuration	9 separate components
On-orbit assembly	about 6 h of EVA
Station orbital replacement units designated for robotic servicing	about 250	[2]
Of those, compatible with Dextre interfaces	about 200

Rows with no marker are from [3].

Each arm has three joints at the shoulder, one pitch at the elbow and three at the wrist [2]. The upper body attaches through a Power Data Grapple Fixture interface and the lower body carries a Latching End Effector, so Dextre can be held by Canadarm2 or can hold itself onto the station. Design commonality with the SSRMS joints and end effector is deliberate [3].

End effector and tools

Each arm terminates in an ORU/Tool Changeout Mechanism carrying a parallel-jaw gripper compatible with H fixtures and micro fixtures, a retractable 7/16 inch socket drive, an extendable umbilical passing power, data and video to the grasped unit, a two-stop zoom camera and two lights [2]. A body-mounted tool holder carries four tools that the arms exchange without crew involvement, and two outriggers carry camera and light pan-tilt assemblies.

Payload interfaces are typed. The standard interface is a micro fixture, whose normal operating loads of 100 N and 85 N m bound the peak transient contact forces and moments allowed during a grasp; units with a micro-conical interface, such as the 6B avionics boxes, are handled instead through a separate Robot Micro-Conical Tool, whose offset makes the force-moment accommodation problem harder [1]. Heavier payloads are grasped directly at a grasp fixture. A dedicated H fixture on the station stabilizes the body during two-arm work [2].

Only one arm moves at a time, a power limit rather than a control limit [1]. The other holds a fixed grasp to provide a stable reference, since two arms sharing a compliant base would couple their position errors, and the 2 mm motion resolution requirement [2] does not survive that coupling.

Force-moment accommodation

Each arm carries a six-axis force-moment sensor on the OTCM [1]. Force-Moment Accommodation closes an outer loop on that sensor so the arm complies with contact rather than driving through it. Commanded steady-state limits are 4 N of lateral force and 3.1 N m of lateral moment, excluding transients, within a user-selectable range of 0 to 111 N and 0 to 54 N m [1].

Parameter	Value
Teleoperated positioning accuracy	6 mm, 2.0 deg
Automatic incremental adjustment	2 mm, 0.1 deg
ORU capture envelope	5 cm lateral, 8 deg about any axis
Micro fixture operating limits	100 N, 85 N m
Guide design load	50 N, 50 N m
Transient force limit during bolt following	12 N peak
Insertion force and moment resolution	4 N, 2.37 N m
Gripper jaw closure	15 to 20 s
Operator guideline on peak transients	5 s maximum duration

Source: [1].

The case for the control law is measurable. Three operators inserted a DDCU orbital replacement unit on the SPDM ground testbed with and without Force-Moment Accommodation [1]:

Operator	Without FMA	With FMA
1	1.5 mm/s, 5 min, peak 200 N and 12 N m	5.5 mm/s, 2.0 min, peak 18 N and 25 N m
2	0.5 mm/s, 17.5 min, peak 190 N and 45 N m	5.5 mm/s, 2.0 min, peak 19 N and 24 N m
3	1.5 mm/s, over 15 min, peak 220 N and 37 N m	4.2 mm/s, 2.5 min, peak 16 N and 20 N m

Source: [1].

Peak contact force falls by roughly an order of magnitude and insertion time by a factor of three to eight. Since orbital replacement units cannot be repaired on orbit, the peak force column is the binding number, not the time column, and the requirements verification program was built around demonstrating those interface loads rather than around task speed [3]. Ground testing is run inside a gravity envelope of plus or minus 3 degrees of attitude, within which gravity compensation holds residual force below 3 N and residual moment below 1 N m [1]; the testbed travels 5 ft vertically, 3 ft along the insertion axis and 1 ft laterally.

Thermal

Dextre and its payloads are maintained by heaters sized against eclipse. The Robotic Refueling Mission payload it hosts illustrates the allocations: two Shuttle heater feeds totalling 230 W at maximum voltage, about 216 W at nominal, each circuit controlled by two Elmwood mechanical thermostats in series switching between +25 and +30 C [4]. On ELC-4 the station provides two feeds totalling 290 W at maximum voltage, about 245 W nominal. Tool heaters are separately powered through the OTCM: 5 W per tool camera with two cameras per tool, and 10 W per tool electronics box, with thermostat set points of -25/-16 C for the cameras and -32/-26 C for the electronics [4].

Robotic Refueling Mission

Dextre hosted the Robotic Refueling Mission series, which operated on representative satellite fuel valves including wire-locked caps, cutting safety wire, removing caps and transferring fluid [5]. RRM3 extended this to cryogenics.

RRM3 parameter	Value	Source
Methane load	about 50 liters	[6], [7]
Zero boil-off duration, ground plus orbit	6 months
Demonstrated on-orbit storage	4 months
Receiver dewar temperature	below 82 K
Methane triple point	90.7 K
No-vent transfers demonstrated on the ground	5
Autogenous pressurization cycle	20 min
Ground supply dewar	450 liter DOT-rated Chart Microfueler	[7]
Methane purity requested / delivered	99.9 / 98.2 percent	[7]
Launch	5 December 2018	[7]

Rows with no marker are from [6].

Ground servicing with liquid methane imposed a 150 ft dynamic hazard control zone during testing, a 50 ft continuous control zone, a vent stack 35 ft from the work building and an 18 ft standoff for the command trailer [7]. Machine vision calibration for RRM3 held below 2 mm of error [5], and telerobotic operation required a minimum of 10 frames per second of video, with 24 preferred. Operations ran 16 to 20 hours per day with a three-person flight controller team and about twelve supporting staff at Goddard.

Ground operations

Round-trip communication delay to the station is 5 to 6 seconds or more [8], so continuous force-reflecting teleoperation is not available and the Force-Moment Accommodation loop has to close on orbit rather than on the ground. Procedures are developed against a six-degree-of-freedom industrial robot at Goddard and an MDA ground trainer carrying SPDM-representative hardware [5].

Robotic cargo operations are long by EVA standards but cost no crew time.