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was successfully deployed and released in orbit. In addition, the SMM spacecraft was captured by the SRMS while rotating at a rate of 0.5 deg/sec (five times the payload-capture angular rate limit for the SRMS). Figure 3-5 shows an EVA astronaut on the MFR working on the SMM.

Flight 41-D had no scheduled task for the SRMS other than releasing the Solar Array Experiment (SAE) payload in the even that the payload malfunctioned. However, a large block of ice was formed at the outlet of the waste water disposal area on the orbiter. The SRMS was used successfully to knock the ice formation off the Orbiter to prevent the hazard of its possible collision with the Orbiter after its breakage during re-entry.

The SRMS was used on flight 41-G to deploy and release the Earth Radiation Budget Satellite (ERBS) payload. During the release sequence the solar array panels on the payload failed to open and the SRMS was used to "shake" the payload to free the solar arrays. In addition, the Shuttle Imaging Radar-Antenna (SIR-A) which is a shuttle attached payload, malfunctioned and could not be secured in its latches. The SRMS was used to push the SIR-A into its latches.

51-A was an important flight for the STS program as the two satellites Palapa and Westar were retrieved and returned to earth for refurbishment. The SRMS was used in a variety of ways on this flight to manoeuvre the payloads with astronauts attached as well as providing work stations for the astronauts to prepare the satellites for orbiter/payload interfaces.

3.5 FLIGHT TEST RESULTS

3.5.1 VERIFICATION RESULTS - A considerable amount of flight data was collected from the  first five flights of the SRMS during both normal operations and planned flight tests. Analysis of the flight data has shown that the SRMS meets all of the performance requirements. The major SRMS performance requirements are listed below along with the flight test results which verify the requirement.

(a) Deploy or retrieve up to five payloads during a single mission. Table 3-3 summaries the payloads deployed and/or retrieved by the SRMS. The SRMS was used on many occasions to berth and unberth payloads during the flight tests and during operational tests. This was done not only in the SRMS prime mode (Manuel Augmented), but also in a contingency mode (Direct Drive). Pilot's reports indicate that payload berthing and unberthing is an easy and straight forward task from an operator's point of view. In addition, DFI data indicates that no large loads were encountered even though berthing and unberthing inherently leads to possible contacy between the payload and Orbiter.



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