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[4] [5] After temporarily being attached to the port side of the Unity module, [6] [7] it was moved to its permanent location on the forward end of the Destiny module on 14 November 2007. [8] Harmony added 70 m 3 (2,500 cu ft) to the station's living volume, an increase of almost 20%, from 420 m 3 (15,000 cu ft) to 490 m 3 (17,000 cu ft).
The Nauka module finally launched in July 2021 and docked to the nadir port of Zvezda module after several days of free flight [3] followed by the Prichal which launched on 24 November 2021. There are plans to add 2 or 3 more modules that would attach to Prichal during the mid-2020s.
Three PMAs are attached to the ISS, PMA-1 and PMA-2 were launched in 1998 on STS-88, PMA-3 in late 2000 on STS-92. PMA-1 is used to connect the Zarya control module with Unity node 1, Space Shuttles used PMA-2 and PMA-3 for docking. International Docking Adapter (IDA): [35] Converts APAS-95 to the International Docking System Standard.
The vestibule is about 16 inches (0.4 m) long and 6 feet (1.8 m) across. At least one end of the vestibule is often limited in diameter by a smaller bulkhead penetration. The elements are maneuvered to the berthing-ready position by a Remote Manipulator System (RMS).
The station received a second robotic arm during STS-124, the Japanese Experiment Module Remote Manipulator System (JEM-RMS). The JEM-RMS is primarily used to service the JEM Exposed Facility. An additional robotic arm, the European Robotic Arm (ERA) was launched alongside the Russian-built Multipurpose Laboratory Module on July 15, 2021.
The racks are placed in a 6-6-6-5 format along the four walls of the module. The end of the PM has an airlock and two window hatches. The exposed facility, experiment logistics module, and remote manipulator system all connect to the PM. It is the location for many of the press conferences that take place on board the station.
Absolute accuracy is the difference between a point instructed by the robot control system and the point actually achieved by the manipulator arm, while repeatability is the cycle-to-cycle variation of the manipulator arm when aimed at the same point. Repeatability: See Figure. The ability of a system or mechanism to repeat the same motion or ...
Dextre on the end of Canadarm2 Dextre, as photographed by an Expedition 26 crew member Dextre, as photographed by an Expedition 27 crew member. Dextre, also known as the Special Purpose Dexterous Manipulator (SPDM), is a two-armed robot, or telemanipulator, which is part of the Mobile Servicing System on the International Space Station (ISS), and does repairs that would otherwise require ...