The Servicing Aid Tool: A Teleoperated S,ystem for Space Applications

Abstract

The Servicing Aid Tool (SAT) is a teleoperated manipulation system designed for use on NASA's Space Shuttle. The system will assist extravehicular (EVA) servicing of spacecraft such as the Hubble Space Telescope. SAT components are spaceflight adaptations of existing ground-based designs from Robotics Research Corporation and Schilling Development, Incorporated. Fairchild Space is providing the control electronics, safety system, and flight integration. The manipulator consists of a 6-DOF Slave Arm mounted on a 1 -DOF Positioning Link in the Shuttle Payload Bay. The Slave Arm is controlled via a highly similar, 6-D0F, .force- reflecting Master Arm. This work is being performed under contract to Goddard Space Flight Center Code 442, Hubble Space Telescope Flight Systems and Servicing Project.