The following procedure will be performed to rigidize the end effector:   /g120 The motor will be switched on and turns the cam wheel by 60oclockwise; two mechanical end  switches will monitor the starting and the end position.  /g120 The inner cones, connected to the rods will move 3 mm within the outer cones. The movement  will cause the expansion of flexible outer cones. This expansion will now block the TFS. /g120 The TRM will stay in the blocked condition due to the non-backdriveability of a worm gear and the  shape of the cam wheel tracks. For the de-rigidization of the TFS, the cam wheel will be rotated in the opposite direction. The inner cones  will be pushed actively by the rods, to allow for the contraction of the flexible outer cone, which consequently will de-block the TFS. /g22/g17/g3/g48/g82/g89/g76/g81/g74/g3/g51/g79/g68/g87/g73/g82/g85/g80 The moving platform actuates the grapple mechanisms, performs the Integrated  Servicing Tool (IST) head insertion, and mates the system harness connectors (for power, video and data  lines). The male connectors will be mated to the female parts located at the Base Point/Grapple. Redundant switches (3 off) are monitoring the platform position to provide status information for the EES  electronic unit. Three platform positions shall be reported by this device: /g120the upper end position, which will be used for a zero setting   /g120the position at which the BEE is aligned with the BP/GF, i.e. the gap between the BEE and  BP/FG is closed /g120the position where the grapple latches are completely closed and pre-stressed. At this position  the connector mating and IST head insertion is also performed. In addition to monitoring by the switches, the platform position is at any time provided by the Hall-effect sensor output signals of the actuator unit motor. /g23/g17/g3/g42/g85/g68/g83/g83/g79/g72/g3/g48/g72/g70/g75/g68/g81/g76/g86/g80 : Grapple fixtures (GF) will be mounted to all objects that have to be handled by  the EES. Each GF includes the female part of the connector, through which the power, signal and video  data is routed to the grappled object. In addition, a GF contains the IST head receptacle, by which the  torque will be provided for the grappled object (e.g. to screw/unscrew). The  Grapple Mechanism of ERA  consist of a three hook/lever systems, which are coupled to the moving platform The grapple mechanisms start pulling at the grapple fixture (GF) or base point (BP) until the gap between the GF/BP and the end  effector is closed and the grapple mechanisms are rigidized and pre-tensioned. The hooks of the grapple  mechanism are constantly pressed outwards by coil springs. When one hook touches an obstacle during  grappling of a grapple fixture (GF) or a base point (BP), the hook induces a force of about 30 N due to the spring deformation to the obstacle. The reaction force will be measured by the TFS, transmitted via the EU to the ERA OBC. The EES will then be re-positioned with respect to the grapple fixture/base point to ease the induced loading. /g24/g17/g3/g54/g92/g86/g87/g72/g80/g3/g43/g68/g85/g81/g72/g86/g86/g3/g38/g82/g81/g81/g72/g70/g87/g82/g85/g86 Three connectors, which are mounted to the moving platform, will transfer  power, video and data between the end effector on one side and the grapple fixture or base point on the  other side. The connectors are mounted via floating devices to the moving platform, to provide a lateral and angular misalignment compensating capability. Each connector provides the capability to monitor the mated/unmated status. /g25/g17/g3/g44/g81/g87/g72/g74/g85/g68/g87/g72/g71/g3/g54/g72/g85/g89/g76/g70/g76/g81/g74/g3/g55/g82/g82/g79/g3/g11/g44/g54/g55/g12 The IST will be used to provide torque for a grappled object (e. g. to  screw/unscrew bolts or a stowed radiator stack). The IST is mounted within the lower end effector  compartment. The IST consists of an electrically redundant brushless motor, similar to the actuator unit  motor, a gear box, and a tool head with a “pop-in” device. The gear box output shaft drives the IST head,  which will be inserted into the IST head receptacle, located at the grapple fixture to provide the mechanical power to the screw interface. The IST drive shaft will be inserted into the receptacle at the  grapple fixture during the platform downwards movement. The IST head will start rotating slowly upon system command, until it pops into the IST head receptacle. If  the tool insertion has not been successfully performed immediately during the platform downwards  323