+--------------+-------------------------------------------------------+
| !            | **TO:** Bob Miley/OZ2 (281) 244-8261                  |
| [](media/ima |                                                       |
| ge1.emf){wid | **NASA Contact:** Larry Walter/ER3 (281) 483-5591     |
| th="1.417361 |                                                       |
| 111111111in" | **Analyst:** John Bussell/MAGIK Team (281) 244-7934   |
| height       |                                                       |
| ="1.32569444 | **DATE:** April 24, 2000 **Action Item #: 1174**      |
| 44444445in"} |                                                       |
|              | **RE:** AMS Configuration #3 Assessment               |
|              |                                                       |
|              | **CC:** Phillip Callen/ER3, Skip Hatfield/OM7, RS     |
|              | Library                                               |
|              |                                                       |
|              | **PAGES:** 12 total                                   |
+--------------+-------------------------------------------------------+

The MAGIK Robotic Analysis Team has assessed a third configuration for
the Alpha Magnetic Spectrometer on the S3 Truss. MAGIK Action Items 1110
and 1146 addressed two other configurations. This analysis addressed the
robotic installation clearances as well as the Special Purpose Dexterous
Manipulator (SPDM) Express Pallet (EXP) maintenance clearances to the
AMS installed at the S3 Inboard Upper Payload Attach System (PAS) with a
12 degree tilt toward the inboard side.

A high fidelity model of the AMS with a 12 degree tilted PAS interface
was received from Ross Harold/Lockheed Martin on April 7, 2000 and was
used in this analysis to assess robotic clearances.

***Assumptions:***

1.  Assembly operations completed at UF4 timeframe

    OTCM GF on EXP payload ORU is rotated 20 degrees from vertical

    AMS manifest keel location is 1175.20 inches

    AMS is installed to S3 Inboard Upper PAS

    EXP is installed to S3 Outboard Upper PAS

    EXP middle inboard ORU removal is assessed

    Distance (ISS +Y) from Inboard S3 PAS to Outboard S3 PAS is 113.38
    inches

***Summary:***

The AMS installation operation was assessed, and violations of the
Remote Manipulator System (RMS) Grapple Fixture (GF) approach envelopes
and EVA Contingency Release envelopes were found. Violations of the
SSRMS twenty-four inch requirement during AMS installation and SPDM
maintenance tasks were also identified. These violations are severe
enough to be brought to the End to End Berthing Integration Team (EBIT)
for review. The Mission Operations Directorate (MOD) Robotics Section
(DX22) and EVA Section (DX3) must also be consulted, and waivers must be
granted for all 24 inch violations.

The SPDM maintenance task of removing an Orbital Replaceable Unit (ORU)
on the EXP was analyzed, and no SPDM clearance violations were found.

***Detailed Discussion:***

The AMS unberth and installation operation was assumed to occur as in
the MAGIK Design Analysis Cycle #8 (DAC 8). The SpaceLab Logistics
Pallet (SLP) carrying the manifested SPDM is removed first. Figure 1
shows the clearance from the SLP Ammonia Tank Assembly (ATA) to the AMS
at manifest. The AMS may need to be manifest further aft in the payload
bay to maintain twenty-four inches to the ATA.

After the SLP is removed, the AMS is grappled by the SRMS. Figure 2
shows a violation of the SRMS GF approach envelope as defined in
NSTS-21000-IDD-ISS section 14.4.4.1. The MOD Robotics Section (DX 22)
would have to review this violation to determine if it is acceptable.
The SRMS EVA Contingency Release Envelope, NSTS-21000-IDD-ISS section
14.4.2.1, is also violated by the AMS structure (Figure 3). MOD EVA (DX
3) would have to review this violation. The AMS is unberthed and handed
off to the SSRMS. The SSRMS EVA Contingency Release Envelope,
NSTS-21000-IDD-ISS section 14.4.2.2, for the SSRMS GF is violated
(Figure 4).

![](media/image2.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 1 -- AMS and SLP Manifested in Payload Bay

![](media/image3.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 2 -- Violation of SRMS Approach Envelope

![](media/image4.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 3 -- SRMS EVA Contingency Release Envelope Violation

![](media/image5.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 4 -- SSRMS and SRMS EVA Contingency Release Envelope Violations

MAGIK DAC 8 analysis documents the AMS as being installed
[before]{.underline} the Express Pallet. This analysis shows the EXP
present during the AMS installation for reference. Figure 5 shows the
AMS 36 inches from being mated to the truss. The S1 Outer Upper camera
must not be present during this operation as the SSRMS makes contact. As
previously stated, the EXP is not currently baselined to be present
during the AMS install, but if it were there, there would be only 7.8
inches from the AMS debris shielding to the EXP structure.

![](media/image6.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 5 -- AMS 36 inches from being mated to S3 truss

(ISS Back View)

Figure 6 shows the clearance from the SSRMS to the S1 truss after the
SSRMS backs away 36 inches from the AMS FRGF. The SSRMS wrist cluster is
16 inches from the truss, which violates the RMS twenty-four (24) inch
clearance requirement. Figure 7 shows the clearances between the AMS and
EXP and their respective PAS Payload Envelopes. As shown in Figure 7,
the EXP protrudes through the Attached Payload Envelope making the
clearance between the AMS and EXP smaller than the clearance between the
AMS and the Payload Envelope.

![](media/image7.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 6 -- AMS Berthed to S3 -- SSRMS Back-off from AMS

![](media/image8.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 7 -- AMS to EXP Clearances

As the AMS is berthed to the S3 Inboard Upper PAS, the keel structure
comes close to the S3 truss structure. The closest clearance is when the
AMS is fully berthed. This clearance is shown in Figure 8 as 13 inches
from the AMS keel structure to the S3 EVA Worksite Interface (WIF) on
the truss.

![](media/image9.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 8 -- AMS Keel to S3 EVA WIF = 13 inches

The clearances shown in Figure 8 are representative of a perfectly
aligned mating operation. However, if any robotic misalignments are
present, these clearances will be affected. The clearances from the AMS
keel and structure to surrounding structure are given in the table below
for five different cases of misalignment. These clearances and
misalignment issues must be reviewed by the End to End Berthing
Integration Team (EBIT).

+---------+-------+--------+------+-----+-----+-------+-------+-----+
| **D     | **T   | **Lat  | **Ro | **  | **  | **AMS | **AMS | **  |
| istance | ilt** | eral** | ll** | AMS | AMS | to**  | to    | See |
| Between |       |        |      | Kee | Kee |       | EXP   | Fig |
| Pa      | **    | **T    | *    | l** | l** | **EXP | S     | ure |
| ssive** | (Wobb | ransla | *(de |     |     | Pa    | truct | #** |
|         | le)** | tion** | gree | *   | *   | yload | ure** |     |
| **And   |       |        | s)** | *To | *To | Envel |       |     |
| Active  | **(   | **(inc |      | S3  | S3  | ope** | **    |     |
| Halves  | degre | hes)** |      | WI  | T   |       | (inch |     |
| of      | es)** |        |      | F** | rus | **    | es)** |     |
| PAS**   |       |        |      |     | s** | (inch |       |     |
|         |       |        |      | **( |     | es)** |       |     |
| **(in   |       |        |      | inc | **( |       |       |     |
| ches)** |       |        |      | hes | inc |       |       |     |
|         |       |        |      | )** | hes |       |       |     |
|         |       |        |      |     | )** |       |       |     |
+---------+-------+--------+------+-----+-----+-------+-------+-----+
| 0       | 0     | 0      | 0    | 13  | 15  | 8.7   | 12.1  | 8   |
+---------+-------+--------+------+-----+-----+-------+-------+-----+
| 0       | 5     | 0      | 0    | 12  | 13  | 4.8   | 6.6   | 9   |
+---------+-------+--------+------+-----+-----+-------+-------+-----+
| 12      | 5     | 0      | 0    | 19  | 20  | 3.9   | 5.1   | 10  |
+---------+-------+--------+------+-----+-----+-------+-------+-----+
| 12      | 5     | 4      | 0    | 17  | 18  | 0     | 1.7   | 11  |
+---------+-------+--------+------+-----+-----+-------+-------+-----+
| 12      | 5     | 4      | 6    | 18  | 20  | 0     | 0     | 12  |
+---------+-------+--------+------+-----+-----+-------+-------+-----+

![](media/image10.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 9 -- AMS mated to S3, 5 Degree Wobble toward EXP

![](media/image11.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 10 -- AMS 12 Inches away from berth, 5 Degree Wobble toward EXP

![](media/image12.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 11 -- AMS 12 Inches away from berth, 5 Degree Wobble toward EXP,

4 Inch Lateral Translation toward EXP

![](media/image13.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 12 - AMS 12 Inches away from berth, 5 Degree Wobble toward EXP,

4 Inch Lateral Translation toward EXP, 6 Degree Payload Roll

The next aspect of this analysis focused on the maintenance task
performed by the SPDM on the EXP next to the AMS. A worst case clearance
scenario will be a removal of the EXP middle Inboard Orbital Replaceable
Unit (ORU) by the SPDM, while next to the AMS. A required clearance of
three (3) inches must be maintained between the SPDM arm and Orbital
Tool Changeout Mechanism (OTCM) and any surrounding structure. The SPDM
body must also be held in a stationary position by the SSRMS during any
maintenance tasks. Figure 13 below shows the setup for this maintenance
task. The SPDM is grappled by the SSRMS, which is based on the Mobile
Base System. The SPDM right arm is stabilizing itself on the ISS aft
side of the EXP. The Left SPDM arm is at an approach point to the grasp
fixture of the ORU, 12 inches away.

![](media/image14.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 13 -- SPDM removal of EXP ORU

Figures 14 through 17 show the approach, grasp, and removal of the EXP
ORU. The required three inch clearance to the SPDM structure was
maintained during this robotic operation.

It should be noted, however, that the SSRMS/SPDM violates the
twenty-four (24) clearance requirement to the EXP payloads (Figures 16
and 17). The SSRMS must be in this configuration to allow the SPDM to
grasp the stabilization point on the side of the EXP. Work is currently
being performed to relocate the stabilization point, which will
alleviate this SSRMS clearance issue.

![](media/image15.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 14 -- SPDM Left OTCM at Approach Point to ORU Grasp Fixture

AMS Structure to SPDM Arm Joint = 5 inches

![](media/image16.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 15 -- SPDM Left OTCM Grasps the EXP ORU

AMS to SPDM Arm Joint = 3 inches

![](media/image17.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 16 -- SPDM Left Arm Removes EXP ORU

(ISS Starboard View)

![](media/image18.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 17 - SPDM Left Arm Removes EXP ORU

(ISS Front View)