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1. describe arm itself, how you operate it, or how it performs ↳(MULTI-MEDIA) (was going to use vu-graphs)- better idea w/ slides and film [some places where vu-graph would help....but...1 medium too many] [DESCRIBE ARM] all talking about same thing [SPAS] • LOOKING ↓ (TAKEN: STS-7 [1ST RELEASE/RE-CAPTURE] (VCR later) • SHUTTLE ON-ORBIT - PLBD OPEN (PLB EXPOSED) CREW CABIN [RMS CNT'Ls] [WINDOWS] [[left margin]] (5) [[/left margin]] CAMERAS ARM BEING USED: (1) ATTACHED (~930lbs ~50'long) (2) LOWER + UPPER BOOMS (HOLLOW GRAPHITE) (3) 6 JOINTS + EE [CRADLED] (POSITION DURING LAUNCH + WHEN NOT IN USE) - CRADLED IN SUPPORTS, LATCHED DOWN [VIBRATIONS on LAUNCH ← IMPORTANT ANALYSIS] - DESCRIBE JOINTS SY, SP, EP [[left margin]] (5) [[/left margin]] ---------- [SPAS #2] [[right margin]] [torque ~750F# → 230 [[/right margin]] WP, WY, WR EACH JOINT: DRIVEN BY ELECTRIC MOTOR [3-4, BRUSHLESS, DC] GEAR TRAIN, TACH, SERVO CNTL SYSTEM, ENCODER + BRAKE EE: "CAN" WITH SNARE CABLES PL HAS 1' LONG STANDARD PROBE (+ TARGET): SQUEEZE TRIGGER ⇒ SNARES CLOSE [[left margin]] (10) HERE [[/left margin]] [INSIDE] CREW CABIN -WINDOWS (LOOK INTO PL BAY) -PANEL (ARM CNTLS + STATUS) [[left margin]] (10) [[/left margin]] -TV MONITORS (VIEWS FROM ANY CAMERA) -THC/RHC WAYS TO CONTROL ARM 1. JOINT BY JOINT [PICK JOINT, HOLD DOWN A SWITCH, SEND CMD THRU GPL → JNT OR DIRECTLY → JNT]