STRUCTURAL FLEXIBILITY OF THE SHUTTLE REMOTE MANIPULATOR SYSTEM MECHANICAL ARM

The dynamics of the 15m long remote manipulator sys tem which is the major element of the payload deployment and retrieval system of the orbiter of the NASA Space Transportation System are, by virtue of the large range of payload masses to be manoeuvred throughout the o perating envelope, significantly affected by the flexibility of the structural components. The paper addresses the finite-element analyses and computer simulations which were carried out by the Canadian design team to a scertain both that arm and orbiter induced manoeuvring loads were maintained below design limits, and that adequate level of stability and controllability were achieved throughout the dynamic operating envelope of the system in the presence of structural flexibility influences.