Tension-Stiffened and Tendon-Actuated Space Manipulators

The Space Shuttle Remote Manipulator System (SRMS) and Space Station Remote Manipulator System (SSRMS) have proven the benefit of long-reach manipulators, with the reach of both manipulators in the l5-18-m class. Manipulators with greater reach provide many benefits. The SRMS’s limited reach required an additional 12-m boom to augment its reach during inspection of the belly of the SRMS in support of return to flight following the Columbia disaster.