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Ranger Telerobotic Shuttle Experiment Details

Ranger Overall Physical Characteristics
  • Size: 40" wide x 30" high x 96" long (at launch)
  • Mass (not including the Spacelab pallet)
  • Ranger with manipulators 1500 lb:
  • Task equipment 300 lb
  • Ranger Latch Mechanism 300 lb
  • Support structure and EPS hardware 800 lb
  • Ranger Body, 30" long, consisting of :
    • "Head" consisting of a 12" cube
        Stereo video camera pair on vehicle bore sight
        Mount for the four arms
      Rectangular "body" 24" long x 20" high x 18" wide
        Houses the EPS relays, PMUs, and DMS CPUs
        End Effecter tool posts mounted on aft body
        RLM receiving blocks on top plate
  • Payload: The Arms and Hands
  • Four Robotic Manipulators
    • Two, 8 DOF dexterous (anthropomorphic+) arms [Lead: Russ Howard] each with:
        Interchangeable end effecter mechanism (IEEM) for quick tool change out
        Wrist video camera
        Minimum of 30 lbf capability at the tool tip throughout the work envelope
        63" maximum reach
        Two tool drives for End Effecter control
      One, 6 DOF Positioning Leg [Lead: Walter Smith] 
        Attached to Spacelab pallet carrier on Linear Positioning Mechanism
        Positions Ranger body at each work site and puts Ranger into RLM
        75" maximum reach
      One, 7 DOF video arm with stereo video pair
        Independently controlled LED lighting
        55" working envelope radius
        [Lead: Russ Howard]

    Electric Power System (EPS)

  • 1225 W average power from Orbiter fuel cells
    • 650 W for robotic control and video
      550 W for arm motors
      650 W for Flight Control Station
  • 2520 W peak power available
    • 672 W for robotic control and video
      1344 W for arm motors
  • Two main power buses
    • 28 VDC for control electronics
      48 VDC for actuator motors
  • Power Management Units
    • An Intel 386EX/Mil-STD-1553 smart remote terminal as primary
      Another acting as safety relay controller
  • Power distribution relays
    • Main relays (2)
      Control Bus relays (7)
      Actuator Bus relays (13)
      Safety Relay on Actuator Bus for two-fault hazard containment

    Data Management System (DMS)

  • R4700 RISC processors (two) for payload control and safety monitoring
  • Ethernet connection to FCS and to PCC through OCA router on Ku channel 2
  • Five, Mil-STD-1553 buses for manipulator and power control
  • Arm Electronics

  • Intel 386EX/Mil-1553 remote terminal boards (UMD design)
    • Distributed processors in manipulator links (16)
  • UMD custom boards for motor control and sensor feedback
    • Joint Controller Backplanes (16)
      A/D Input Boards (33)
      Motor Driver Boards (33)
      DC-DC Converter Boards (16)
  • Absolute and incremental encoders in all arm actuator
  • Motor commutation from all actuators
  • Telemetry and Video

  • Downlink via SpaceNet through the Orbiter Ku-Band link
    • 10 Mbps downlink of digitized video on Ku channel 3
      Up to four, simultaneous, digitally-compressed video feeds
  • Telemetry through ethernet output to OCA router on Ku channel 2
  • 128 Kbps real-time command on Ku-Band uplink
    • From Ground Control Station in the JSC Payload Command Center
      20 Hz realtime command of manipulators
      Sent via ethernet to OCA router
  • Video matrix switcher, 8 inputs x 4 outputs
    • Inputs selectable from flight or ground control stations
  • Video encoder for video multiplexing
  • TDRSS communications link via White Sands, NM
  • Thermal Control

  • Passive thermal control of arm actuators
  • Passive control of Electronics Modules
  • Ranger Latch Mechanisms

  • Restraint system for launch and landing
  • Restrains Ranger body by top panel receiving blocks
  • Passive restraints for the manipulators
  • Modified SPARTEN REM design with single actuator latch
  • Pallet Floor Secondary Structure (PFSS)

      Support structure for Ranger robot and RLM
      Interface to SLP via MSFC supplied X-Z beams and Y-brackets

    Body Structure

  • Exterior structure of the Ranger Body
  • Interior space for EPS relays, PMUs, and Main and Monitor DMUs
  • Tool posts for end effecter exchange & restraint
  • RLM receiver blocks
  • Ranger Manipulator and Kinematic Control

  • Resolved Rate Controllers for
    • Dexterous Mark I & II Arms
      Video Arms Mark I & II
      Positioning Leg
  • Cartesian Trajectory Planner for single target point
  • Compliance Controller for Dexterous Arms
  • Cartesian Position Controller for
    • Dexterous Arms Mark I & II
      Video Arm Mark I & II
      Positioning Leg
  • Resolved Rate Controller for Dexterous Mark II Arm (8 DOF)
  • Flight Control Station

      Flight Control Station developed by PSI and Veridian
      Stores in one double Mid-Deck locker and three single lockers
      Includes full data and video display during operations
      Rugidized SGI O2 computer
        Processor: R10000 @ 175 MHz
        Control station interface
        RS232 control of video switcher and encoder
        Serial 2 x 3 DOF hand controller inputs
        Two, 9 GB hard drive for data recording
      Ethernet connection to PCC through OCA router
      Data and video archiving by ground control station

    Ground Control Station

  • Three, SGI O2 computers, keyboard and 21 inch monitor
  • 17 inch monitor displaying stereo video
  • Four, 9 inch monitors displaying all downlinked video
  • 3 DOF rotational and translational hand controller
  • Control station system monitoring modules
  • Virtual reality components
    • SGI Octane computer
      Stereo video or graphical simulation of Ranger
      3D mouse for control of VR model or realtime control
      Arm dynamic simulation modules
  • Real time telerobotic command of Ranger via Ku channel 2
    • Ethernet connection to FCS and Ranger via OCA router
      128 Kbps command uplink
  • Data broadcast to WWW through UMD
    • Serial Ranger telemetry from JSC PCC
      Digitized Ranger video from JSC PCC
      Muxed and sent to UMD for distribution
      No internet control of Ranger possible for security & safety

    Participating Organizations

  • Payload Systems, Inc.
    • Payload Data Safety Package
      Payload Integration Plan & Annexes
      Interface Control Documents
      Flight Control Station Integration
      Ground Control Station Integration
      Intergration, Verification and Test Management
  • NASA Space Telerobotics Program
    • Funding and Grant Monitor
  • Veridian Enginnering
    • Electrical Power System
      FCS CPU
      Boresight Cameras & LEDs
      Video Arm Camera & LEDs
      Thermal Analysis & Control
      Systems Engineering Support
      DCLA model and analysis
  • Spacelab Logistic Pallet
    • Bare Spacelab Pallet for Carrier
      7A.1 Orthogrids for Secondary Structure
  • JSC ARSD Special Projects Office
    • System Environmental Testing Facilities

    Maryland RTSX Team

  • Principal Investigator: Dave Akin
  • Program Manager: Gardell Gefke
  • End Effecter Development Lead: Brook Sullivan
  • Ranger Vehicle Bus Systems [Integration Lead: Gardell Gefke
  • Electric Power System (EPS) Lead: Wayne Deveroux
  • Data Management System (DMS) Lead: Jean-Marc Henriette
  • Arm Electronics Lead: Jean-Marc Henriette
  • Telemetry and Video Lead: Steve Sell
  • Thermal Control Lead: Dennis Loveless
  • Pallet Floor Secondary Structure (PFSS) Lead: Walter Smith
  • Ranger Latch Mechanisms Lead: Marty Devaney
  • Body Structure Lead: Marty Devaney
  • Ranger TSX Software Development Lead: Stephen Roderick
  • Ranger DMS Software Lead: Stephen Roderick
  • Control Station Software Lead: Corde Lane
  • Boundary Management Software Lead: Stephen Roderick
  • Software Development Plan Lead: Stephen Roderick
  • Ranger Neutral Buoyancy Components Lead: Brian Roberts
  • Ranger Manipulator and Kinematic Control Lead: Craig Carignan
  • Ranger DMS Software Lead: Stephen Roderick
  • Control Station Software Lead: Corde Lane
  • Boundary Management Software Lead: Stephen Roderick
  • Software Development Plan Lead: Stephen Roderick
  • Ranger Neutral Buoyancy Components Lead: Brian Roberts
  • Ranger NBV II Ground Support Station Lead: Brian Roberts
  • Flight Control Station Lead: Steve Sell
  • Ground Control Station Lead: Corde Lane

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