Ranger TSX Task Procedures

 

Bare SpaceLab Pallet Configuration

The SpaceLab pallet(left) holds the task element board (right). The different task include several basic tasks like the vision task board, force plates, contour following compliance task, and peg and hole task. The larger tasks are shown in greater detail below.

 

RPCM (Remote Power Control Module) Task

1. SETUP
ORBITER CONDITIONS / STATUS CKS TBD
CONFIRM OPERATOR HAS COMMAND AUTHORITY**
MEE on Primary DX [NO ¦ PL OPS, RTSX EE Changeout]
Configure video views for task (VM, Boresight, Secondary DX, Orbiter CCTV PLB feeds)

NOTE:
Video settings and views may be changed at the operators discretion throughout this procedure. This includes VM and Secondary DX positioning.

2. REMOVE RPCM
NOTE:
The operator may choose to do this task 'left-handed' (i.e., using the DXL as Primary DX and the DXR as Secondary DX) or 'right-handed' (DXR as Primary, DXL as Secondary). Either is acceptable.

Select Primary DX
Maneuver DX / MEE to RPCM Microconical Fixture
NOTE:
End point coordinates are available on the Ops Module for reference if needed, but should not be used as FLY-TO instructions.



[sample view from Boresight or Secondary DX]
MEE fully open [NO ¦ PL OPS RTSX EE Alternate OPEN]
NOTE:
Robot will only execute OPEN commands if MEE is in correct position and orientation.

Maneuver MEE onto Microconical Fixture
Confirm operating in Compliant Mode
Actuate Slow Tool drive to CLOSE MEE, engage Microconical Fixture
Actuate Fast Tool drive to release Tiedown Bolt [REFERENCE: TBD (<10) revolutions; TBD (8 ft-lbs) torque]
RPCM FULLY RELEASED FROM BOLT
Maneuver DX to remove RPCM from mounting bracket, translate/rotate into free workspace

 

3. INSERT RPCM
NOTE:
Insertion procedure is reverse of removal procedure.

Maneuver Primary DX to place RPCM in mounting bracket

[insert sample video view]
NOTE:
End point coordinates are available on the Ops Module for reference if needed, but should not be used as FLY-TO instructions.

Actuate Fast Tool drive to engage Tiedown Bolt [REFERENCE: TBD (<10) revolutions; TBD (8 ft-lbs) torque]
RPCM FULLY ENGAGED ON BOLT
CAUTION: Bolt must be fully engaged for RPCM to be safely restrained for reentry

[insert sample video view]
Actuate Slow Tool drive to OPEN MEE, release Microconical Fixture

NOTE:
Robot will only execute OPEN commands if MEE is in correct position and orientation.

Maneuver DX to free workspace

PROCEDURE COMPLETE

 

HST-ECU Task

ORBITER CONDITIONS / STATUS CKS TBD
CONFIRM OPERATOR HAS COMMAND AUTHORITY
BBD on Primary DX [NO ¦ PL OPS, RTSX EE Changeout]
TLG on Secondary DX [NO ¦ PL OPS, RTSX EE Changeout]
Video views (VM, Boresight, Secondary DX, Orbiter CCTV PLB feed)
NOTE:
Video settings and views may be changed at the operators discretion throughout this procedure. This includes VM positioning.

2. REMOVE ECU
NOTE:
The operator may choose to do this task 'left-handed' (i.e., using the DXL as Primary DX and the DXR as Secondary DX) or 'right-handed' (DXR as Primary, DXL as Secondary). Either is acceptable.

NOTE:
VM should be positioned throughout procedure per operator's preference.
Suggested VM repositioning points are offered for the purpose of this SAMPLE only.

Select Primary DX
Move DX/BBD to first Keyway Slot Bolt (Keyway Slot Bolt sequence is up to operator discretion)
NOTE:
End point coordinates are available on the Ops Module for reference if needed, but should not be used as FLY-TO instructions.


sample DXL view ?? (replace with better)

Maneuver DX/BBD onto Keyway Slot Bolt
Actuate Hand Roll drive to turn BBD, unfasten Keyway Slot Bolt [REFERENCE: TBD (6) revolutions; TBD (4.2-4.6 ft-lbs) torque]


REPEAT LINES 37-45 FOR OTHER THREE KEYWAY SLOT BOLTS

Select Secondary DX
Move DX/TLG to Tether Loop
NOTE:
End point coordinates are available on the Ops Module for reference if needed, but should not be used as FLY-TO instructions.
TLG fully open [NO ¦ PL OPS RTSX EE Alternate OPEN]
NOTE:
Robot will only execute OPEN commands if TLG is in correct position and orientation.
Maneuver DX/TLG onto Tether Loop
Actuate Slow Tool drive to CLOSE TLG and grasp Tether Loop


Tether Loop securely grasped by TLG

Select VM
Position VM to observe Connector Bolt

Select Primary DX
Maneuver DX to free workspace
Change End Effector to RAD [PL OPS, RTSX EE Changeout]
Move DX/RAD to Connector Bolt
NOTE:
End point coordinates are available on the Ops Module for reference if needed, but should not be used as FLY-TO instructions.
Maneuver DX/RAD onto Connector Bolt

 

Select VM
Position VM to observe ECU / receptacle interface

Select Secondary DX
Set DX to Compliant Mode

Select Primary DX
Actuate Slow Tool drive to turn RAD, unfasten Connector Bolt [REFERENCE: TBD (6) revolutions; TBD (7.5-9.2 ft-lbs) torque]
Move DX/RAD to free workspace

Select Secondary DX
Set DX to Normal Mode
Maneuver DX/TLG to remove ECU from receptacle, translate to free workspace

 

3. INSERT ECU
NOTE:
Insertion procedure is reverse of removal procedure.

Maneuver Secondary DX/TLG to insert ECU in receptacle
NOTE:
End point coordinates are available on the Ops Module for reference if needed, but should not be used as FLY-TO instructions.


Set Secondary DX to Compliant Mode

 

Select Primary DX
Move DX/RAD to Connector bolt
Maneuver DX/RAD onto Connector bolt
Actuate Slow Tool drive to turn RAD, fasten Connector Bolt [REFERENCE: TBD (6) revolutions; TBD (7.5-9.2 ft-lbs) torque]
Connector Bolt fully engaged

Select Secondary DX
Set DX to Normal Mode
Actuate Slow Tool drive to OPEN TLG and release Tether Loop
NOTE:
Robot will only execute OPEN commands if TLG is in correct position and orientation.
TLG clear of Tether Loop
Maneuver DX to neutral position or secondary viewing position

Select VM
Position VM to observe first Keyway Slot Bolt

Select Primary DX
Maneuver DX to neutral position
Change End Effector to BBD [PL OPS, RTSX EE Changeout]
Move DX/BBD to Keyway Slot Bolt
NOTE:
End point coordinates are available on the Ops Module for reference if needed, but should not be used as FLY-TO instructions.
Maneuver DX to seat BBD on Keyway Slot Bolt


Actuate Hand Roll drive to turn BBD, fasten Keyway Slot Bolt [REFERENCE: TBD (6) revolutions; TBD (4.2-4.6 ft-lbs) torque
Keyway Slot Bolt fully engaged

REPEAT LINES 120-134 FOR OTHER THREE KEYWAY SLOT BOLTS

CAUTION: At least TBD Bolts must be fully engaged for ECU to be safely restrained for reentry

Move DX to neutral position

PROCEDURE COMPLETE

 

APFR Task

1. SETUP (configure EEs and video views)

ORBITER CONDITIONS / STATUS CKS TBD
CONFIRM OPERATOR HAS COMMAND AUTHORITY
AQP on DXR [NO ¦ PL OPS, RTSX EE Changeout]
BBD on DXL [NO ¦ PL OPS, RTSX EE Changeout]
Configure video views for task (VM, Boresight, Orbiter CCTV PLB feeds)

NOTE:
Video settings and views may be changed at the operators discretion throughout this procedure. This includes VM positioning.

Removing the APFR

 

2.a. INSTALL APFR (Center Body Tube Latch release)
NOTE:
This procedure may not be reversed to switch robot 'handedness'. DXL and DXR tasks must be performed as assigned.

NOTE:
VM should be positioned throughout procedure per operator's preference.
Select PXL
Position robot to Center Body Tube Latch

Select DXR
Move DXR/AQP to Quarter Turn Ring
NOTE:
End point coordinates are available on the Ops Module for reference if needed, but should not be used as FLY-TO instructions.
AQP fully open [NO ¦ PL OPS RTSX EE Alternate OPEN]
Maneuver DXR/AQP onto Quarter Turn Ring
Actuate Slow Tool drive to CLOSE AQP and grasp QTR
Quarter Turn Ring securely grasped by AQP

Maneuver DXR/AQP to Pull, Rotate ±90°, Push Quarter Turn Ring


Actuate Slow Tool drive to OPEN AQP and release QTR
AQP clear of Quarter Turn Ring
Move DXR to neutral position

Select DXL
Move DXL/BBD to Center Body Tube Latch
NOTE:
End point coordinates are available on the Ops Module for reference if needed, but should not be used as FLY-TO instructions.
Maneuver DXL/BBD to seat BBD on Bolt

Actuate Hand Roll Drive to turn BBD, unfasten bolt and open Latch

Move DXL to neutral position

2.b. INSTALL APFR (Probe [lower APFR half] Rotation)

Select DXR
Move DXR/AQP to Pitch Joint Lock Knob
Maneuver DXR/AQP to seat AQP on Lock Knob


Push, & Rotate Knob CCW 180° to Unlock
Move DXR to neutral position

Select DXL
Move DXL/BBD to contact Probe


NOTE:
End point coordinates are available on the Ops Module for reference if needed, but should not be used as FLY-TO instructions.
Maneuver DXL/BBD to rotate Probe 180° CW


Move DXL to neutral position

Select DXR
Move DXR/AQP to Lock Knob
Maneuver DXR/AQP to seat AQP on Lock Knob

Push, & Rotate Lock Knob CW 180° to Lock [REFERENCE: TBD (2 - 10 lbs) force; TBD (3 ­ 20 ft-lbs) torque]
Move DXR to neutral position

2.c. INSTALL APFR (Boot Plate Latch release)
Select PXL
Reposition robot to Boot Plate Latch

Select DXR
Move DXR/AQP to Quarter Turn Ring
NOTE:
End point coordinates are available on the Ops Module for reference if needed, but should not be used as FLY-TO instructions.


AQP fully open [NO ¦ PL OPS RTSX EE Alternate OPEN]
Maneuver DXR/AQP to enclose Quarter Turn Ring
Actuate Slow Tool drive to CLOSE AQP and grasp QTR
Quarter Turn Ring securely grasped by AQP

Maneuver DXR to Pull, Rotate ±90°, Push Quarter Turn Ring


Actuate Slow Tool drive to OPEN AQP and release QTR
AQP clear of Quarter Turn Ring
Move DXR to neutral position
Change End Effector to APG [PL OPS, RTSX EE Changeout]

Select DXL
Move DXL/BBD to Boot Plate Latch
NOTE:
End point coordinates are available on the Ops Module for reference if needed, but should not be used as FLY-TO instructions.

Maneuver DXL/BBD to seat BBD on Bolt


Actuate Hand Roll drive to turn BBD, unfasten bolt and release Latch [REFERENCE: TBD (15) revolutions; TBD (5.0 ­ 7.3 ft-lbs) torque]


Move DXL to neutral position
Change End Effector to TLG [PL OPS, RTSX EE Changeout]
2.d. INSTALL APFR (Release APFR from Hex Probe by depressing Detents and lifting Yoke)

Select PXL
Reposition robot to Yoke

Select DXL
Move DXL/TLG to Yoke
NOTE:
End point coordinates are available on the Ops Module for reference if needed, but should not be used as FLY-TO instructions.
Maneuver DXL/TLG to enclose Yoke


Actuate Slow Tool drive to CLOSE TLG and grasp Yoke
Yoke securely grasped by TLG

Select DXR
Move DXR/APG to Probe
NOTE:
End point coordinates are available on the Ops Module for reference if needed, but should not be used as FLY-TO instructions.
Maneuver DXR/APG to enclose Detent Levers


Actuate Slow Tool drive to CLOSE APG and depress Detent Levers [REFERENCE: TBD (2 ­ 10 lbs) force]

Select DXL
Remove APFR from probe restraint
NOTE:
DXR follows DXL (both are grasping APFR)

Select DXR
Actuate Slow Tool drive to OPEN APG and release Detent Levers
APG clear of Detent Levers
Move DXR to neutral position
2.e. INSTALL APFR (While holding Yoke, Insert APFR into WIF, then release)

Select VM
Position VM to observe WIF Socket

Select DXL
Move DXL/APFR probe to WIF Socket
NOTE:
End point coordinates are available on the Ops Module for reference if needed, but should not be used as FLY-TO instructions.
Maneuver DXL/APFR to insert APFR Probe in WIF Socket [REFERENCE: TBD (<10 lbs) force]


Insertion complete

Select DXR
Move DXR/APG to Paddle Grasp position

Select DXL
Actuate Slow Tool drive to OPEN TLG and release Yoke
NOTE:
Robot will only execute OPEN commands if TLG and APG are in correct position and orientation.
TLG clear of Yoke
Move DXL to neutral position

Select DXR
Move DXR to neutral position