_
MCR.78-517
NAS9-14593
Users'
Guide
__
II II
I
II
I
!
I
May
I
II
--_
•
III
II
II
1978
I[
Manned
Maneuvering
Unit
J
{NASA-C_-I5186_)
[;SEA'S
GUID[
HC _0%t_
A01
MANNED
(_artir_
iIANF.'JVEHIHG
Marietta
Corp.)
UNIT:
73
CSCL
N79-
16553
p
05_I
Onclas
63/54
43558
MCR.78-517
Users'
Contract
NAS9.14593
Contract
Statement
Paraglaph 3.3,2
Guide
of Work
Item
May 1978
MANNED
MANEUVERING
UNIT
Prepared
by:
J, A. Ler;da
Systems Projec!, Engineer
Martin Marietta
Approved
by:
'
Program Manager
Martin Marietta
_sch
Contract Technical
NASA-Johnson
Monitor
Space Center
C, E. Whitsett
Subsystem
Manager
NASA-Johnson
Space Center
MARTIN
MARIETTA
CORPORATION
P.O. BOX 179
Denver, Colorado
80201
FOREWORD
This
document
Pre]lminary
was
De._ign
]_t..lities
description
document
was
in
with
be
directed
J.
T.
Josephson,
d.
A.
Lenda,
C.
E.
Whitsett,
Lo
for
by
NASA-Johnson
of
questions
8
blaneuvel;in_;
Work,
concerning
data
and
and
Aerospace--(303)
Aerospace--(303)
Space
ii
Center--(713)
U1_il:
a
capa-
studies.
m_d
is
paragraph
this
per,_omle]:
Marietta
Marietta
Corporation
SI:atement
or
Manned
plmming
Marietta
followln
Martin
_Iartt.n
the
,qpplicatlons
mission
"A",
the
of
provide
Martin
Comments
to
part
orbital
Exh:ll)lt
NAS9-14593,
should
as
Contract
pr_l)ared
accordance,
Gontract
prepared
973-3000;
973-3000;
683-5536.
Tho
submitted
3,3.2
document
of
ABBREVIATIONS
AND
ACRONYMS
AAH
automatic
ASMU
automa_ical].y
CEA
control
CM
center
DCN
dlsp]ays
AP
delta
pressure
AV
delta
velocity,
att[tudc
hold
stabilized
mancuvertn_
electronics
of
.lass
and
controls
module,
equiv..lent
EMU
ex_ravehlcular
mobility
EVA
extravehicular
activity
fps
feet
FSS
flight
GN 2
gase(,.s
kg
kilograms
LDEF
Long
blblU
manned
maneuw,
ring
PLSS
primary
life
support
psi
pounds
RHC
rotational
RMS
remote
manipulator
STS
Space
Transportation
THC
translational
tmi n
minimum
per
unit
assembly
of
in
EMU
translation
unit
second
support
station
nitrogen
Durntlon
per
Exposure
square
hand
t_me
Facility
unit
system
inch
controller
hand
curve,
system
(orbiter)
System
controller
for
_flJ
iii
translation
CONTENTS
Foreword
,
.
,
Abbreviations
Contents
.
.
and
0
......
0 ....
Acronyms
,
....
,
....
il
iit
...................
....................
,
......
iv
_hru
vi
I ,0
INTRODUCTION
1
...................
thru
3
2.0
MMU
EVA
UTILITY
....................
4
thru
1.3
3.0
USER
4.0
FUNCTIONAL
].4
......................
CHARGES
4.1
4.2
_|aneuvering
Work
Site
4,3
Operational
15
.................
CAPABILITIES
Capability
Aids/Anciliary
Guidelines
...............
Equipment
1.5
.........
16
23
...............
and
24
5.0
6,0
OPERATING
...................
25
Egress
.................
....................
25
Doffing
28
SEQUENCE
5.1
5,2
Donning
Flight
and
Mode
5.3
Ingress
and
5.4
_
Servicing
CONSUMABLES
28
................
29
...................
PARAblETRICS
3O
.................
6.1
6,2
Propellant
Consumption
Parametries
.........
Power
Consumption
Parametrics
...........
6.3
App]Ication
to
Typical
MbIU Scenarios
........
30
38
39
thru
5O
APPENDIX
A--_
Technical
Description
A,I
Hardware
Design
A.2
_IU
Properties
Mass
............
..................
................
iv
51.
51
58
CONTE_ffS
_Continued[
A,3 _LMU
MassPropurtlus ................
58
A.4
61.
APPI<ND1X
MMU F]ight
B--EVA
Instrumentation
(klldc,]tn_,s
.............
..................
64
anO
65
APPFNI)]X
C--Reference
1)oeument,_
66
...............
Figure
Space
Shuttle
Satellite
Beam
bhmned
Builder
with
Repair
4
Experiment
5
LI)EF
6
_IU
Carrying
Small
Satellite
S(_rvlcing
7
B
Maneuvering
Inspection
(I_)
3
.......
9
..............
9
...................
Replacement
Servicing
Unit
b_lU
wltb
with
_IU
_}U
i0
.............
i0
.................
Equipment
wi_h
M_I
i0
Item
. , ..........
..............
i0
II
i0
}_Us
Transporting
Beam
Structure
Alignment
Task
Rescue
from
Unstabilized
ii
Rescue
12
Shuttle
13
14
Skylab
15
Cable
16
M_
17
Space
Consgruction
with
_U
...............
B_IU Cargo
Attachments
- Side Grapplers
.........
9
iB
19
from
Unstabilized
Rescue
Reuse
with
_IU
with
ll
_
........
Ii
........
i]
]2
.................
12
..................
Small
Deployment
in
Orbiter
Mission
Deploy/Retrieve
Use
.................
................
Orbiter
with
RNS
Free-Flying
with
Assembly
with
Large
22
b_tU
_
Temporar_
Restraint
Arms
Folded
Down
to
23
FSS/b_IU
24
25
Adaptor
.........................
b_IU Activities
at FSS
..................
Percent
Fuel
Consumed
vs Total
AV .............
26
MMU
27
_IU
Travel
T_me
versus
Percent
Fuel
Consumed
28
fence
Locations
Travel
Time
i_
versus
.................
.
System
Provide
Cargo
Bay
Distance
Distance
vs Distance
13
13
..........
Cargo
Attachments
- Front
Mount
of Soft
Tether
between
MMU
and
21
,
13
Antennae
_
Use
2O
_IU
................
_
of
Satellite
...........
Work
Site
17
18
19
......
21
.............
Access
to Work
with
13
Sit<,
. .
22
Airlock/Tunnel
(Cargo
Weight
(Cargo
(v
Weight
= ]%
max
.
26
27
34
=
0)
.
. ,
lO0
ibs)
Total
Dis-
........
35
36
3?
CONTENTS
_(Concluded
Figure
I
(Continued)
29
30
Typical
Orbiter
MMU
Translation
Exterior
Inspection
Route
for Actiw[tios
31
Identified
during
LDEF
Stahil] zatlon
A-I
A-2
MMU
Functional
Diagram
Manned
Maneuvering
Unit
.................
.........
A-3
MMU
Major
Subsystems
(i
of
2)
..............
54
A-4
MMU
>la_o_t Subsystems
(2
of
2)
..............
55
A-5
MMU/FSS
A-6
_U
A-7
Typical
A-8
AAH
the Inspection
Phase
...................
Conf_guratlon
Reference
in
Payload
Coordinate
Centers
Limit
of
Cycling
Route
at a
System
Mass
with
Bay
for
No
using
Fixed
MMU
. .
Worksite
.........
52
.
........
53
57
-58
.............
EMU/MMU
41
42
46
..........
Syste;n
Disturbance
.
.......
Torques
59
......
6]
Table
MNU
Flight
Characteristics
_hMU Travel
Times
(One
...............
Way)
Distance
and Cargo
Weight
Translation
in Automatic
_IU
Power
Typical
Estimated
Consumption
MMU
Usage
................
Attitude
Hold
with
Description
and
15
Propellant
Parametrics
Mission
Distance
and
versus
32
CG
Offset
............
.............
Direction
Change
.
33
38
4O
.........
43
thru
45
7
LDEF
8
Multiple
9
Fuel
A-I
MMU
Stabilization
Mass
Consumed
Transfer
During
Instrumentation
...................
47
.................
5-||our
Controls
EVA
and
vi
Task
48
..........
Displays
........
49
63
MANNEDMANEUVERINGUNIT USERS' GUIDE..................
1.0
INTRODUCTION
The
Space
Shuttl_
tend
and
enhance
tho
them
ct,
operate
easter
system_
and
backpack,
ture.
lahe:i_r
The
will
HNU
,_IU
be
_s
ducted
the
c.xp_riment,
search
The
and
mad
blNU
pilot's
Js
operated
work
for
stowed
for
launch
flight
:-upport
the
a
bnsed
oll
the
a:_
design
through
and
cargo
lights,
or
in
station
the
The
nl low
the
fly
,)Hid
,,;upport
a
nnd
crew
t¢"
or
w:idc
;IFly
strucvariety
personnel,
in-
t'(Hl.qtrtl('t[oll
add
at
hand
as-
i:;
also
of
b1509
used
an
Johnson
_--=-
testa
to
extensive
b_iU
l'oCenter.
inputting
cold
the
automatic
outlets,
conunit
Space
for
Shuttle
for
tal
and
projected
maneuverin_
through
the
The
the
on-orbit.
.,,-r- .......
the
commands
restraints.
end
orbl.
include
poxeer
office
The
controllers
maneuver
forward
progrm:l
service.
dertv.'d
features
worksitu
Shuttle
of
auxiliary
which
bay
suc(:essfu]
port
was
scp;_rnte
design
orea
I).
wi 1 I
cnrgc_
stand;_rd
program
rotation
Other
Fig.
pnyl.oads
to
Space
as
missions
current
suppol-t
;_lld
users
development
system.
pro,visions
-,-----. ...............................
the
technology
bilization,
by
Shuttle
Sky]ab
l[f_.
hove
orbit.
are
transl.ation
thruster
servicing
opel'_ti(lns_
of
[lltt_gl';1]
(.;)1"gn
o_-
metros
w:Ll.l,
(i_IM[!),
used
of
caF;d)illttes
during
be
hi]owing
crew
f. rcc-flylng
tr;m:;f,,r
ogbiga]
by
(_,e
,Shuttie
nearby
wi]l
developed
to
,,.,.I.th
UllJ t
t(,
by
ex-
to
Shuttle
the
hackp;_ck
thc
Itv
in
being
s_uJt
fr,,c--spa,:e,
structur_
available
support
t,r
lllobi.]
lllOlll.to_',[ng,
],.n'ge
s; of
spac<,cr;fft
/ncludi.ng
of
sembly
_;poce
orbit
spacecraft
rolv
nmncuvering
conflm,
_n
tho]l"
this
pv,_pu.[sive
i.ndcpend¢'nt
lind
For
opor;it,.,
manned
the'
own
activities
speck[on
-,TJ "_: I..'T"
the
beyond
This
add
opp<_rtunl.ty
capabilities
of
(EVA).
doll
ca.[led
of
inlwrent
._;c].f-cont;_tned
n
opt.rate
part
of
to
unpr,-_cedc'nted
an
.tltsJdc
ac_Lvity
llew,
to
cr,:,_.,,'s
cffttcLiveJy
e>;travehtcu]ar
a
provide
will
thu
gas
attitude
and
sta-
attachmen¢
nmneuvering
unit
cp, rgo
donning/doffing
bay
at
is
a
and
Tile
tial
purpose
_!U
and
to
tions
user
sented
in
ifi Section
of
the
assess
of
several
charges.
_IU,
guidelines
Sectlons
utility
dev=lopin[:
of
}_U
functional
4.0
and
AppendS>:
mass
for
of
provide
th_
5.0.
A
and
and
operating
Consumables
properties
reference
for
Section
utility,
provides
_
info_at_on
preliminary
applications.
_ID
provided
to
for
those
including
is
_s
the
ezamples
.The
6.0.
document
guidance
support
describes
user
to
provide
in
_hls
of
a
more
data.
in
specific
plans
2.0
of
Section
the
for
applications,
for
_U
this
3.0
opera-
document
dlscusses
characteristics
parametrics
detailed
A
Appendix
listing
are
are
pre-
illustrated
technical
of
poten-
d_scriptlon
general
B.
i
\
\
EVA
r_
z
o
0
{-.-,
"-_l
,-,s_
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e_
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".,',__.':;__;_7.'__s ......j
-_.:_-'..'-'.
_:.-_., _
..............
2.0
MMU EVA UTILTTY
Th_
and
is
nlng
wlth
for
can
the
be
apply
listed
Shuttle
NASA as
by
any
with
STS
Shuttle
EVA support
on
any
scheduled
1981.
It
can
be
and
EVA rescue
operations.
the
a:;ststan_'e
of
capabilities
the
Space:
payload
in
supp,_rt,
performed
to
by
flights
funct-lona]
whfch
use
operational
operation._
which
are
provtdcd
available
orbital
by
NMU i_
of
Lhe unit
program.
Typh:a]
the'
and
tasles
by
_cluipment
mtssiml
used
for
bc..g:in..
EVA support,
Specific
MNU ar_
the
whirh
ta_ks
limited
only
EVA guideltn.?s
the
MMU cnn
s,pport
below.
EVA S_
....
a.
External
b.
Do.numen tary
Payload
inspection
of
phot
the
Orbiter;
ography/t¢,
dc.ploymcnt
levi.st
on.
or retrieval;
b.
Adjustment
C°
Retrieval
and
d.
Servicing
free-flying
of instruments;
Replacement
replacement
of
Cleaning
sensors
g
Assembly
of large
h
Routing
i
Application
J
Removal
k.
Malfunction
coatings,
emulsions;
payloads;
failed
f
of film,
and
modules;
lenses;
structures;
of cables
or lines
of spray
between
discontinuous
points;
coatlngs;
of contamination
assessment
protective
and
corrective
covers;
action.
Crew t_escue S_
a.
Support
situation
b.
Provide
a rescue
-_-_ -"--.r- _ ...............................
the
transfer
involving
a means
of
crewznembers
a stable
for the
situation
transfer
involving
and
equipment
in
a re_cue
orbiter;
of
crewmembers
a tumbl:Ing orbiter.
and
equipment
in
The
fol]ow_ng
nlember
as
can
illustrations
perform
examples
of
F_IU
poss:l.bil.ikies
Figure
2
spection.
a
sample,
for
potential
shows
a
h
correct
a
repair
One
panel
bolts,
The
first
crewmember
outlets.
The
graphing
In
to
the
Long
structure
LDEF
(80
kg)
cargo
5
shows
the
LDEF
RCS,
by
MblU
thus
approach
allows
or
of
LDEF
if
necessary,
an
The
is
two
prior
unsuccessful
beam
task
satellite
for
in-
retrlew:
the
builder
satellite
is
power
depicted
in
wrench
to
remove
the
procedure,
photographs
and
folded
handhold
down
from
one
in automatic
a
at
a
for
of
to
maintain
access
the
at
b_lU
attitude
the
work
ancillary
hold
the
while
photo-
experiment
tray
to
may
weigh
as
by
the
F_U.
Note
capture
capture
side
has
and
the
experiments
distance
can
by
of
be
front
those
remote
has
manipulator
imparted
placement
tumble
the
in
Orbiter
yards.
the
stabilize
ibs
figure
minimizing
from
hundred
on
175
the
at
utilized.
for
of
instances
to
as
being
tray
the
waits
that
spacecraft
several
utilized
the
attempt
the
much
advantage
accomplished
In
be
or
into
crewmember
tray
the
to
an
placement
MMU-equipped
Orbiter.
MMU
for
positioning
servicing
the
transporting
(LDEF)
technique
standoff
the
is
second
crmcmembers
of
by
_IU
transported
Such
a
required,
a
tether
Facility
attachments
normal
capture
here
other
satel.ltte_
s_abilize
reaettonless
arms
experiment
contamination
maintaining
on
is
A
easily
structure.
potential
after
assist.
MMU
or
supplied
in
satellite.
be
crew
operation.
Exposure
can
EVA
presented
of
a
the
erewmember
cretcmember
Duration
the
Figure
the
to
and
an
are
gener_ltlon
photograph
,_ waist
is
crm,_nember
the
the
which
They
MMU approaching
a
control
a
of
the
shows
4,
only
wrench
repair
Figure
in
conducted
second
FNU
the
second
the
a
utilizes
the
the
for
in
_'asks
MMU.
malfunction,
being
uses
has
Power
aid
tile
Orbiter.
while
and
area,
to
also
deployment
crewmember
the
position,
and
might
operation
3,
of
tree.ember
crewmember
the
vnrious
support
users,
Tile
by
deptct
1:he
utility,
by
retrieval
Figure
wil:h
LDEF
where
the
system
rates
The
without
retrieval
spacecraft,
(P_IS)
to
ot
the
LDEF.
l
_-:_
:.iT*:-
_ ..........................
I"J_,_l/}%" 6
vl)allg{'ouL
ll:(n,,
'Jh(,
a
of
lite,
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a
._atul.ltte
down
al.tm,,
lights
Two
used
in
Figure
8.
communication
_vithin
weigh_
performil:g
a
theodolite
is
are
easily
beam.
11
alignment
directing
Lank
the
(5
in
Figure
illustrate
the
ex-
modu]t.
l:[J_lJl'e
Mnnt
nystem
of
n
|)1
7
support.
rentl'al.nt
into
l(,
transp,>rtin>:
receptacle
the
FIFIU control
and
shews
a
beam,
beam
lbs
ten._:ton
A more
cap;/ble
their
the
cable
(.,a,_Ily
on
arms
the
FDIU
thv
folded
flood-
site.
coordil_ate
example)
approximately
J'tmt
is
the
be
t.quiplnent
provide
trannporting
position
For
to
area)
shown
;lil
]:_Ir
carry
could
restr;3Jnts.
d_,plctn
work
to
restra.tnts,
FDIU
work
CTH_;_utto
utJ]J.ze(l
(if
pl.seemellL
also
the
crm,cnembers
can
structure.
and
fol"
the
bIMUn
The
and
the
long
in
satellite
the
[nLcgra]
the
figure
to
in
re:_tratut
:tll
]lluminnte
to
cre_,m_embers
foot
8_te
access
In
w()rksJt{,
SUCh
work
_ll])/_ap(,
rttl)]ai'emellL
hmvever,
The
cJnser
be'lug
ture
the
ntructu,:e.
tn
n
a
tethr.):"
wu)'ksit:('
[lie
addLtional,
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to
cassette
;as
tasks;
t'estra[nt
(:al'Fy/r'l_
wa.lsL
addttJona]
require
nerv]c[ng
such
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preclude
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In
Unit
ring
de._-
Work
4,2
Site
The
port
to
M_'IU eollta:tns
dnrtng
free
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to
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of
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Is
changes
ing
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The
electrica]
be
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operate
to
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to
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amps
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several
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result
are
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system
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time
a]
items,
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work
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is
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is
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Figure
rigid
to
16
by
a
each
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Section
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switch
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a
20).
attachment
designed
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establish
Fig.
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a
power
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operated
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a more
at
accomplished.
consumption
to
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outlet
Appendix
is
blMU provides
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utilized
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This
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be
lbs)
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or
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system
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member
work
and
tht_
tethers
[ntendud
50
The
and
Exact
requirements
the
gr;tpp]ing
ln_unted
generally
transporting
gravity
cargo,
w;il,;l;
be
tc_
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frent
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In
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to
ace
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22
shows
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quired
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It
cre_n_ernber
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from
have
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nrt:
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Figure
22
#_IU Temporary
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tions
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Flight
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NormaJly_
Detailed
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and
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bh_IU will
program.
effectively
utilized
torques
be
can
Orbiter
responsibility
the
Shuttle
mechanism
the
with
however.
the
by
through
23
exerted;
which
as
a
stable
that
large
is,
forces
platform
the
or
}_IU
from
should
torques
bIMU
be
can be reacted
Section
however,
The MMU
free
4,1
to do work.
above,
to counter
can also
of external
are
Additional
required
light
loads
iu such
such
effectively
transport
forces
Section
(see
restraints,
cases,
as might
massive
6.0).
24
The
occur
as described
MMU
can be utilized
during
objects
in
when
simple
tasks.
operating
/
5.0
OPERATING
F(_r
normal
the
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the
forw:_rd
(PLSS)
The
orbital
end
of
is
(see
more
Fig.
sequence
20
Egress
Temporarily
from
work
orbital
member
of
Attach
•
Don
EVA
•
Power
•
Verify
•
Release
MMU
•
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in-flight
•
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with
the
dons
from
the
within
the
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system
pressure
FJ_ght
stlJl:.
Support
payload
bay
Star:Ion
near
the
below,
wil]
require
bay
at
tank
as
location.
cameras,
tool.'_,
kits.
launch/entry
for
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such
configuration
for
use
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donning.
pressures,
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perform
visual
_o
the
MMU.
all
interfaces.
and
conduct
MMU.
from
the
performed
bIMU by
checkout
of
_IU
systems.
FSS.
checkout
}}IU/EVA
transferring
of
summarized
repair
equipment
verify
instrumentation
the
support
blbiU
equipment
prep
supply
and
Lhe
payload
or
and
support
_IU
up
is
Jtfe
the
be
the
._DIU.
•
required,
the
of
tasks,
support
stations_
MMU
inspection
if
into
any
propellant
checkout
to
of
perform.
operations,
Verify
primary
end
egress
alrloek
Reconfigure
After
forward
t_
stow
portable
visual
handholds
the
I,_!U will
airlock
environment
vi'_
of
minutes
•
•
Thu
proper
_be
the
23).
entire
titan
at
which
from
bay.
the
located
•
•
payJoad
translates
which
The
the
during
egresses
provides
cr<._nember
airl.ock
operations
crm,nnember
backpack
(FSS)
no
SEOUENC_E .........................
to
of
flight
the
at
turning
this
systems.
operations.
FSS,
bDRJ while
control
crewmember
performs
facing
the
the
Battery
t-ime
(see
around
to
unit.
Section
face
the
5.4).
cent_rline
initial
replacement,
The
of
crewthe
25
t
4_-
_ _.-z- - ,,-_
............
26
p;zy],,nd
bay
:rod
h_c,l'lnv
irlttJ
(a)
the,
I,IMU Immn(.od
cm
the
FSS
(b)
(see
- '.,
YI_:,.
2Z_a),
5ERVIClNO
(PROPELLANT
CHARGt}
(c)
Latcbc_
oJ_ (_,;m(:h s'Fde
p]ot('S
at3
oI1
_._ac)l
optJcal
(inside)
._Jd_.!
o]"
_'onl_cctlon)
the
cl:ewmemher
EMU
to
can
verify
ut:ilize
2&b).
of
The
This
all
check
of
check
six
the
the
Orbiter,
would
involve
axes,
lever.s
then
of
MblU nnd
is
rs
to
up
the
near
upward
is
,_tr/ke]"
lnt-ei'face
and
module
(DCM)
of
tbe
A),
from
the
each
I,'SS handrail
(see
Fig.
t(xe payload
bay.
An
out
of
FSS
by
the
Jn
translations
to
operat]_ms.
and
verify
manual
immediate
t:he sehe¢luled
gyros
(via
e_tablJsh¢-d,
Appendix
accomplished
brief
vote
FMU
(see
beginning
commandIBg
atld powering
data
controls
released
is
engogc
the
the
and
].ocnted
system
prior
towors
point
qu_mtittes
maneuw,
b_lU
Lb:is
disp.lay
fuel
syst_ m
release
crewmember
op_:ratlona]
vicinity
the
Lhc
the
and
chrusLcr
AI:
between
>h_I['powe_"
the
P],SS.
Tl3e astronaut/EblU/blMU
operatio_
of
t]le
rotations
attitude
in
bold
operation,
1t
sbou].d
ing
module
bay,
the
same.
reserved
be
1_oted
that
conf[guratlons
FSS
location
A speciflc
(X
579
O
and
envelope
- X
62_)
alghough
several
are
possible
the
procedures
(the
when
forward
EVA
Jn
the
to
48
eperatJ(;as
O
27
a_rlock,
forward
utilize
_nches
are
tunnel,
end
the
of
the
planned
of
_IU
and
the
on
_aylo:_d
remain
payload
any
dock-
the
_ay)
is
missions.
5.2
Flight
Mode
Control
commands
grips
of
ted
as
tem
and
the
Judge
relative
the
erewmember
MMU
fuel
of
and
complished
as
back
to
by
of
the
FSS.
the
(see
Section
During
continually
assignment
can
to
flight,
assess
then
be
ac-
2.0).
either
the
into
the
to
in
and
MMU
that
support
FSS.
the
Orbiter.
the
returns
the
by
alrlock.
can
is
designed
will
be
The
to
fit
part
of
the
passage
if
re-
MMU-to-PLSS
from
latches
through
the
crew
engage
allow
recharge,
disengage
the
Orbiter
which
to
Propellant
the
the
structure,
Latches
Nominally
this
to
crewmember
crewmember
releases.
the
intended
MMU
entering
that
side
(Although
not
into
released
prior
crewmember
backing
then
airlock
on
the
between
are
performed
released.
tasks
By
latches
PLSS
latch
on
the
normal
the
both
unit
sides
airlock
operation-
sequence.)
The
complete
than
user
llnk
cues
Doffin_
smfe
al
the
the
mission
sys-
visual
DCM
the
is
only
on
The
inhibi-
communications
utilizes
displays
fail
it
or
the
consumption.
are
latch,
controller
astronaut/EMU/_IU
a voice
crewmember
hand
utilizes
is
are
is
the
astronaut
initiated
maneuvers.
latches
the
EVA
be
MMU
quired,
if
The
the
can
between
during
EMU.
hold
The
during
and
through
interfac_
direct.
displacing
attitude
only
defined
the
by
is
distance
engages
to
axes
mode
and
completion
MMU
flight
velocity
approaches
member
six
vehicle
the
power
In_ress
On
The
Orbiter
part
the
Automatic
required.
is
the
in
in
required.
which
and
MMU
accelerations
as
5.3
the
sequence
is
of
tasks
summarized
5 minutes
(plus
•
Return
to
•
Lock
•
Power
•
Doff
MMU
down
below.
recharge,
the
to
performed
after
The
doffing
if
required).
FSS.
FSS.
MMU.
MMU
28
MMU
flight
sequence
operations
will
require
are
no
more
5.4
in
•
R_:,mow,
•
Recharge
•
Secure
The
blMU can
FSS.
5
power;
]s
be
Spare
accomplished
recharge
Recharge
the
FSS
a
the
the
Orbiter
supply
_IU
and
FSS
(see
in
Figure
less
Since
i0
the
ground
from
the
ii0
to
Secti_m
5.4),
the
pressurized
to
]6
_IU
is
:In the
5_IU;
are
the
_|L,.
to
Propellant
of
supply
the
Gages
and
recharge
of
if
tanks
can
be
(3,000
psi
m_3ximum)
both
a
the
full
EMt!
charge.)
performed
at
available
connection
valve
of
required,
using
establlsh
control
less
hours
to
the
mounted
takes
watt
Orbiter
toggle
and
is
compartment,
recharge,
establishes
monitor
540
(Battery
pl-ope_lant
disconnect
utilized
rep];Jcement
required
nitrogen
It
crew
provide
airlock
nitrogen
quick
bat_.ery
watt.'_.
wh_le
pressurized
batteries
30
hours
crewmember
between
; mounted
on
the
repressurizatlon
tanks
c;m
be
completed
minutes.
Orbiter
charge
recharge
load
and
are
the
bIMU
A
24c).
than
tial
provides
charged
Orbiter.
M_IU.
_i slng]e
in
the
(see
stowed
pressurized
from
the
by
fully
Up
of
using
serviced
batteries
in
system.
t_n_ks
Two
nomln_:l
from
entry.
batteries_
used
m_nutes.
the
equl.pment
prop(-'l]._mt
Servici_/!_
replace
them
suppt_rt
b_'tU for
MMU
the
can
EVA
of
supply
the
will
135
fps
_IU
typically
delta
(3,000
psi
(4,500
psi),
be
80
velocity
maximum)
to
the
i00
is
less
delta
fps.
than
velocity
A
full
the
ini-
available
ground
charge
capability.
29
'
....
i
_. _ .COr:#_U_M_,BLLS2A
_,2Let._U.C_
............................................................
6. l
Pro._c]];
The
Uttll'd_¢'Y
rate
,,f
on
_o
in
whir'h
tO
_eStilllatt?
wh.lch
propell.ant
usage
hase.d
ground
m
teria,
a
guidelines
to
calculations
should
torques
ibs
of
designed
by
Isp.
For
is
at
4,500
compensate
off
translational
commands,
on
consumption
temperature
lected
and
propellant
in
applied
changes
these
examples.
torques
are
on
estilnate
}L_I(_
part_mc.trics
the
620
of
ib
propellant
psia
for
_md
cm
(as
propellant
are
examples
illustrated
in
3O
the
re-
Since
and
the
tables,
the
to
¢he
resuJting
in
the
attitude
assumed
in
impulse
of
tables
the
to
(Isp)
and
fully
constant
hold
have
Table
effects
be
N_!U control
and
are
ma].e
(propellant
assumed
illustrated
specific
Specific
the
mass
percentile
constant
70°F).
offsets
alfect
mass,
95th
remain
tanks
factors
is
cargo
k_,
intermittently
such
could
reasonable
propellant
constructing
(282
to
pertinent--
represent
which
torques_
cr:t-
p_,rformance
tables
mass,
_re
porfocmance
equally
Factors
assumed
thrusters
effect
2
constlnlp-
indiv:lduak
in
purposes
total)
GN 2
etc.)
uF;ed
'J';ibl_.s
to
different--and
applied
the
The
ie._,
b('
propellant
these
(cre_¢member
to be
and
[11
c_ll-
Call
system
data
is assumed
to
turning
the
offsets,
during
of
a
mass
is neglected).
(40
is
if
requi.rements.
mass
trnJectur
users
Al.though
task
weight
change
logic
characteristics,
Judge
astronaut/EMU/,xFNU
charged
of
somewhat
I t_u's,
operations.
generate
used,
propellant
system
mass
to
blblU
c_l,q¢.',
propellant
v;lrl(,us
,_
applications,
wore
of
t,rbital,
on
,,_pec[_lc
_lft"(!(.t
potential
specific
d,-p,.,ndent
gtFtdollt_cs
pre:;,:.llt
enqble
system
call
(vel.oc
HHU
27,
is
c,_lch
>;¢.v¢,l'al
rules
center
changing
mann,'r
assumptions,
vary
for
_i:,_lj
established
set
include
maining),
the
whJcll
rules
ground
tile
v_:nnul;,t,I
vary
the,
typi,';ll
through
for
would
of
by
for
simplifying
parameters
will
liz[l_g
25
specific
and
Is
acr,onlplished,
utilization
The
set
klt.[
degree
Figurc:_
parametric.s
l)t',Jpel]ant
wi/ich
ill%,
GN:_
p:H-;allotric.g
>bqU
_l't,v:mel'_lbcl"
,'1 large
and
j(ul
factors
_lallOtlverH
3,
1:[oll
at
the
sumptJ
Ch,nmun_)t
re].;it._,d
addition,
and
nt
negligible
3),
are
of
figures.
mode
Effects
also
neg-
cargo
mass
at
typ__ual
_.,c.i_,ht
l .4
of
620
]b'; of
I_" ([a
3
w_loc:irles.
F(mr
thrust
>]MU
offset
ea_'h.
trm_slations
system
consumption,
but
due
to
are
of
Figure
25
shows
in
velocity
aehie\,ed
for
additive-'
half
would
coast
not,
coast
distance
velocity
e[pated
velocities.
when
no
_:,:' typ_cally
;logic
ntti_ude
[._.,
2
to
larg_,
amount
of
4
tranquil
hold
sign]fJc._ntJy
the
turns
and
r(,]ativelv
in
s1_ghtl.y
of
wlth
:m
cargo
ma:_s.
fuel
time
neede_
off
the
_mes
increased
thrusters
co,interact
be
equals
]%
over
comfortable
This
is
various
coast
a
AV
for
for
period|-
torque
is
pre._,nt
the
the
curve
normal
feet
per
as
velocities
i00
is
twice
and
the
of
feet
the
braking),
of
the
for
for
This
translation,
distance
when
initial
separation
will
be
achieved
based
on
more,
visual
times
half.
for
which
distance
accelerates
other
or
of
travel
MMU
function
utilizing
31
equivalent
function
shows
velocity
of
a
method
second)
nominal
distances
a
maneuver
i.e.,
for
as
total
a mission.
done;
decelerates
of
acceleration
times
tmin
consumption
(in
any
for
during
b_IU travel
be
function
used
maneuvers
The
noted,
fuel
Total
as
fx*e] is
coasting
distance,
shows
(feet).
translate
such
27 depict
:it should
28
provide
(fe¢,_);
cm_sumpt:iun
to a
result
consumption
(i.e.,
all
separation
Figure
to
for
distances
the
,'rod
distm_ce
automatic
acceleration
translation,
26 and
various
various
_)n fuel
due
not
increase'
fuel
velocity
Figures
_rX m.:ls),
syst(ml
offs¢:t,
coast
is
do
MbIU control
delta
and
EMU/MMU
vel_cJti_:.s
s_,pm'ati_m
in
gravity
translational
the. c,g.
abow_
(in
(coast)
lnlt1,_]
peYformed
offsets
merrily
The
during
t_'nw,]
the
and
ut:illze.d
th(' effects
center
these
translation,
_wer
traw_].
l-ssentlally,
ca]ly
are
at<'
Nominal
of
3 Jl]u._trates
_n
we_f,J_t_
thr,ls_'rs
sec¢)nd)
300-foot
'fable
when
]bs.
fl,,.,tper
l'p:_ f_r
Cnrg._
cues.
anti-
...
!.£ii; !/'),rrc[
!:'t,:,..¢ (,'J_,, i:'n,)
_n,d(',rr,,:,".
_,:',_::,/;(
Distance
One Way
(feet)
Cargo
Weight
(Ib)
(r_;_,"17'_l ,:TLn_f
Vel oci ty
Attained
Total
Time
,
(.see)
(fp.s) .....
0.5 (max)
3O0
(Nomi na I )
3O0
3OO
1oo
3OO
100
300
,
,
,
. ,(sec).... _C.o_n_um_d
._
O
14.0
43
7.4
1I0
90
4.5
158
144
3.0
68
79
(Nomi nal)
Percent
Fuel
77
.8 (m'ax)-.......
100
,,
Coast
Time
63
30O
3OO
l.'rr:.:...' _j.'.),:r_e L,.;tr,L _t,,_
] 12
0
15.0
41
8.6
89
5.2
0
16.8
,
3OO
250
300
250
,
75
03 (m_x)
I
3 (Nominal)
114
86
6.2
2OO
0
7 .7 (max)
52
0
11 .,1
2OO
O
5
57
23
7.4
200
0
2 (Nominal)
107
94
3.0
2OO
100
7 .2 (max)
56
0
12.4
2O0
100
5
59
21
8,6
200
i00
2 (Nominal)
92
3.4
I00
5.4 (max)
36
0
8.0
I00
5
37
3
7._
103
97
39
0
8,8
]O4
96
1.7
I00
I (Nom_:_al)
100
100
5.1
100
100
1 (Nominal)
NOTES:
I08
(max)
I)
Does not include
in most cases).
2)
3)
Assumes constant
Isp (= 60),
Calculated
for 95% man, total
(282 Kg),
4)
Acceleration
5)
Propellant
6)
Maximum velocity
attained
is that achieved when half the travel
distance
is used for acceleration,
half for deceleration--with
no coast time.
Nominal velocity
is the anticipated
comfortable
coast velocity
which the crewmember will
probably
utilize.
7)
Total
:
attitude
system
hold
propellant
constant
weight
(negligible
system mass.
(man/EMU/MMU) : 620 Ibs
mass.
mass used = CAV, where
usable
usage
1.5
propellant
is
32
40 Ibs.
C = system
mass
o
Crewmember carries 250 Ib mass
low MMU/EMUcg.
o
The total system (MMU/EMU + cargo) cg is therefore offset by 0,43 ft
in Z axis.
whose center of gravity is 1.5 ft be-
MMU logic coml)ensates for this offset by periodically turning off two
X-axis thrusters during translational acceleration. This increases
the time required to achieve a given velocity as shown below.
Translation
Distance
(ft)
No AAH,
No CG Offset
300
-
AAH, with.43 ft
CG Offset in Z
o
, ,.
,
•
Cargo
Weight
(Ib)
250
Vmax
(fps)
Time(sec)
to
Achieve
3 fps
3.0
14
Coast
Time
(sec)
86
Total
Time
(sec)
Percent
Fuel
Consumed
114
6.23
.......
300
i,,.
250
3.0
16
84
116
6.24
Essentially, cg offsets do not result in increased fuel consumption,
but merely increase slightly the amount of time needed for translation.
33
/
/
I00 "
i
I
!
/
90,
i/
/
!
/
80-
j
7O
g
60
0
%
i,
e3
50
/
4O
3O
/
2O
Translation
Only
in
X Axis
10
I0
20
30
40
50
60
70
Total
"
80
90
AV (fps)
3"t
lO0
l&O
120 130
140
150
j
...........
?00
NOTES:
150
Q,
100
LJ
C_
L_
50
_C --j
NoAttitude
Hold
Translation
in X-Axis Only
Fuel Consumed is for One Way Only
20U
!
NOTES:
1') No'Attitude
Hold"
2) Translation
in X-Axis Only
3) Fuel Consumed is for One Way Only
,/
150
v
:-_ 100
_4
I±J
k-"
5% Fuel
Consumed
(tml n only)
5O
• 12.4% Fuel
'
,
.8% Fuel
0
I00
'
(tmin
Consumed
only_
[
Consumed (tmi n only)
2OO
3OO
,
f'
Vmax = 1 fps
• Vmax = 3 fps
Vmax = 5 fps
Vmax : 7.5 fps
2O
_!
i
NOTES: li No Attitude
Hold
2) Travel
Time (One Way) is
103-145 sec
DISTANCE (Feet)
tttO_3?
37
¢
6.2
rate
P::v_
r()Z_E:L!!_5::Lgn
P:,U:!!j,Zty)_:_.
The
MMU
c,,nsume._; an
typically
gyro.'_ are
i.Llund.natc
_r
tool._,
a work
thl;_
op( r;lti¢_ns.
typical
normaJ.ty
since
thrt_sters
ficanL
power
M;qU wou/d
would
call
and
power
the
much
saved
Battery
•
Average
Maximum
6 how,." mission
bI_] Operational
Power
for
-
available
Typical
2
-
camera
outlets
-
-
(2)
operational
tool
mission
-
6
hour
2 floodlights
1 hour
-
ancillary
equipment
for 3 hours
30
op tratJons
total
-
@
28V
180
period,
watt-hours
to
for
tirol,
signd-
Thus,
I.he
sh¢_wn
in
operate
ancillary
orbital
operation
watts
DC
support:
2 amp
max
720
watt-hours
180
watt-hours
540
watt-hours
125
28
watt-hours
watt-hours
210
watt-hours
363
watt-hours
x
each
duration
@
0.5
@ worksite
amp
@
for
1.5
(batteries
EVA)
for
2 hours
amp
5 hrs
for
recharged/
duration
operational
448 watt-hours
prior
to next
and
maximum.
batteries)
Load,
operationa]
-
Margin
=
r_.quired
the
gyro. _
s:lLe
this
watt
available
both
operational
blargJn
=1.77 waLt-hours
replaced
prior
to next
Typical
during
avail;_bl.e
25 watts
6 hour
floodlights
1 power
5 hours
charge,
orbital
(2)
mission
-
be
work
for
rate
-
floodlights
Power
a
30
,_rl_.ital
Pa_,cm:etp;b_.c
•
•
(full.
I.s
at
during
the
to
estimate.
/.!l.'l: P_ov',_:.v Ccmsum!_i.'Zo?z
Capacity
that
tilt,
equipment
paralnvtric_
noted
firing
shown
snell]sty
dramatically
than
wou]d
assumln_
flood]ight_
nporate
nominal
less
watt-hours
a worst-c;,se
MMU
be
below
watts,
(-'onsumpt]on
be
the
normally
saved
540
Jncrea.,;e
when
30
includes
to
bIMO power
consume
thin:
outlets
could
off
of
Lh(. MMU
11: sh(mld
riot
be
The
J.s, therefore,
4
:load
presents
turned
typically
4,
power
operations.
be
average
S_nce
and
typical
'l?abJe 4
¢qudpr, lent.
;,:767.c:
are_,
orbital
would
Table
,n_ c_mstant]y.
@
works,ite
for
50 watt-hours
operational
(no
EVA)
battery
@
0.5
amp
recharge
42
watt-hours
92
watt-hours
38
J
The
siena
following
which
four
;m
fuc.]
consumption
e;tt-h
t;_sk.
sion
exampi.e
1"cnt
task
vers
heJJeved
e:_;implc's
/,_lU-_quipped
In
iilustrnte
each
case
are
Ega2_,A\I_• 1 -Orbiter
[s
but
The
not
to
be
desJgn
inspection
of
was
of
miss:ion
for
(c,ntry
graphic
documentation
of
tile ()rbiter
sequenced
description
of
tim
estimated
time
payload
tasks
b;ly.
with
Two
of
is
critical
t{on,
if
6
and
fotc.Z
checkout,
tion,
m/sec).
for
Therefore,
proximately
60
of
an
and
the
inspection,
is
the
ft/sec
b1509
(18
areas
-
main
number
an
equal
both
observing
gear
objectives
that
translation
was
the
task.
trans].ation
inspection
a
fixed
(right
major
leg
loeaside).
of
the
changes.
required
is
Jt
and
performs
from
the
at
direction
kV
a
(Cbll)
blblU
each
phot(_-
required,
activity
for
to
or
encompasses
experience,
39
.involves
contains
complete
].anding
of
task
m/see
5
A typical
route
distance
and
L',V for
to
plus
translation
approximately
total
required
The
on-orbit
maneu-
candidate
erewmember
(CbI2)
This
Orbiter
trave]
-
One
].'ic,t,a.ne_.
30.
estimated
il P'.cqui_._ed
From
ro_a¢ion
2'_',ao_:Z
mlscur-
of
samples,
Table
cre_ember
not
subsystem
estimated
includes
Orbiter
(9
and
data
of
equipment
task.
FVA
are
29
aft
the
D,_._o
and
Figures
required,
shows
mission
used
in
reentry
Table
sec
Ec, zcte
shown
second
crewmembcrs
f'_,,l',_elatioy_
route
a
of
here
number
exter_c_r).
each
This
series
outlined
rel rieva],
for
-
of
rely spec.lfic
complex
any
tasks/oper;ltJons,
requirements
steps
Outline
of
a
ml,-.;of
operatJ.ons.
blMg
assessment,
individual
Exnmp].e
cxerclse
exter:ior
reasons
tile EVA/b}IU
the
near-Orb_tel'
Orbiter
status
for
and
Estimates
representative
_o
Orbiter
total
seenar:los
perform.
blission
be
designed
reference
the
given
to
typical
eou]d
MMU
intended
rather
typical
cre_m_erabcr
for
the
MblU
approximatdly
found
required
and
30
that
for
rotation
the
ft/
?:V
translais
ap-
ool
C:,
°
,
•
o
°
000
•
',0
O_
Ox
0
.,_
4.J
4.J _
,,_
_
°
,OJ
_J
0
',.Q
QJ
,-.t
oo
P._
0
p-_
0
.r-I
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0
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¢_
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0
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N
_
01
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,._
°_
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_
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0
0
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0
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°_
0
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CO
Q;
I
40
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o) _0
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Q;
i ,i
o.o_oeo
I x,_
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! i:-:....
-_ ..........
-"!_;"......
f,
Fi,3ure 29
".
..... _'G
.....
..-..'"
T_-p._cal Orbitc__r ,_,_'terinr/n_pection
41
Z
i
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:;.-:_
......
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.........
_,.
.."
Roz_te usin_
#_U
I
m
i.
Fisz_r_
30
_MU
i
iiii
.
ii
Translation
identified
m,.
d_ring
Route
the
for
Activitie_
Inspection
42
Phase
at
a _ixed
Worksite
O
(.,'
1,4
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p
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43
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Ii_,31_)ie 2
ence
missJon
supp]ement
recrieval
The
payload
Facility
used
to
to
ensure
of
the
a
is
s]:ugs-ft
See
Figure
the
Orbiter
per
second
moment
.31,
will
to
operation
lation
the
7
on
attitude
the
In
Che
a
inertia
-,
_
..........................
while
deslgl)
rt_'fer-
erewmember
mode
for
i[4 ft
angular
impulses
that
required
its
to
principal
Dur_tion
_o
impart
axis,
Orbiter
the
ly
arising
a
Exposure
(1_IS).
the
LDEF
=
RMS
The
approaches,
retrieval.
57,400
diameter
slugs-ft
by
30
from
interaction
spin
rate
ylu]ding
the
MMU
of
ft
2
long.
with
2 degrees
maximum
assumed.
provides
The
listed
a
summary
_;V capability
initial
control.
LDEF
Stabilization
46
_,
Long
system
were
I
_'--_
the
were
9,25 m
(30 FT)
LDEF
LDEF
stable
• 2 OEG/$EC
31
of
manipulator
used
L
Fig;,xr_
MMU
MMU/EVA
used
retrieval.
based
and
be
about
were
payload
the
dimensions
to
LDEF
- Table
LDEF
retrieval
of
of
LDEF
D_sturbing
inertia,
Suit:at U
plishing
_.
equivalent
of
the
stabilization
satellite
_ The
uti1_zes
tile remote
....
' ,OFc:),,._,_,o,_,,_
- bioments
b_iU 58.5
section
payload.
utilizing
prr_vide
StabJllzatlon
this
featured
(LDEF)
is
- I,DEF
(Jut1.l.n_'d in
of
the
blMU operauions
required
conditions
was
for
44
for
accom-
this
support
ft/sec
for
trans-
'I.:LZ,"
;;
LbF_
,'.'L,_b','.Z,!::v_'_fr,;_
Orbiter
out
for
c]os,,s
L¢, statlonkeeping
contamJnntJon
_tnbi]ized
that
will
wJ.th
_ho
prevention.
payload.
be
It
installed
will,
by
_,[bIUproviding
LDEF
J_1 this
tile crewmen
limited
approximately
position
active
Is
a
passive,
emamp]e,
have
mild then
be
stabilization
lO0
gravity
gradient
protective
retrieved
to
yards
covers
by
facilitate
the
I_IS
grap-
pling.
Dis tahoe
(ft)
l,
2,
HMU
Fly
checkout
to LDEF
(in
3.
Stationkeep
at
(photograph
LDEF
bay)
AV
Rate
(ftlsec)
(ftlsec)
4.0"
......
300
3.0
6.0
LDEF
2 .O*
condition)
4.
Install/deploy
5.
covers
as required
Dock
to end
of LDEF
protective
6.
StabiLize
LDEF
as
4,0
2.0
Orbiter
9.0'
<'loses
to I@IS grapple
range
(MMU AV dequired
to provide
payload
valent
stabilization
to
2°/see
equi-
in
one
axis)
7.
(RMS
grapple)
MMU
and
stands
off
50
8.
Stationkeep
and photograph
while
payload
is inserted
9,
in payload
_MU
returns
Translation
Attitude
Total
*Not
bay
to
FSS
and
0.5
1.0
1,0"
docks
50
0.5
1.0
AV
3O
control
equivalent
included
50
undocks
ft
in
(AV
equivalent)
i4
AV
attitude
44
control
AV.
47
Fuel
Consumed
ft/sec
-
33%
Tal?_
/?
Mu_tipZe
Mazs
Tranofcar
Distance
(ft)
I*
MMU
2.
Transfer
3.
Positioning
of module
Return
t.o Orbiter
4.
5.
6.
Module
#i
Module
Positioning
Return
to
at
at
(no
Attitude
control
(during
translation_
translation,
50%
AV
3.0
6.0
3OO
1.5
6.0
3OO
3.0
6.0
3,0"
site
3,0_
translat.ion)
equal
control
quired
3OO
24
Control
plus
].5
AV
AStltude
A_titude
3OO
site
#2
of module
Orbiter
Translation
Tots]
to
due
trans]atlon
(during
equal
to
t.o more
because
equivalent
of
I0
nn]oaded
12
AV)
loaded
18
translation
propellant
offset
_V
re-
e.g.)
required
64
*Not
included
in
att.itude
control
AV.
48
/
tsV
Equiv.
(ft.!sec)
checkout
Transfer
7.
Rate
(ft/sec)
Total
Fuel
Consumed
ft/sec[
=
47_'_
_:.L,,_bLA_:. y:_::-)t_!_: D.d< _:.t<, :!7!;_!'_- r:,t)l<. 9 pr_.,,_,_t:_ :_
typical
:merit|rio
con:4ul::_,d
t_)
durlrH,,
cribed
by
•
th,.,
a
Illustrate
5--hour
J:ol]owlng
CrewlllOlllber
of
Dtal"'lllg
+Y
•
3
l)tll'lng
the
nlelnbcr
is
20
disturbance
of
0.11.
which
di<,,:G.,
3"_::/:,7:
a
!".,.
7
300
thlk,
in
the
ilFe
;it
,'< ,.:':m;,
to
,;
arc
two
ied
f:g:,,,
site
c:_,cll
_
thn:
fuel
t.h;lt
tmlld
depicted
is
be
d_.',%--
_!11(1 of
the
il_
drif',
limb
out
once
ev(,ry
L::,'.o.
7.'<,_';:
of
re:[.Ill.it(:
roy
th('
Dtlril_g
that
5
]_'t)
ill
lillle
in
turqlle
two
deadband,
seconds
crew
umbiJical
torques
AAlt
(60
II1
site,
form,'_--atl
the
Ilhl'_.illllllll
nlinute:_,
work
moti,m
.>, .',',
20
20
m(nh,.
two
at
hours,
tl':lllHliltes
hold
;md
site
5
cvpry
present
a>:es
work
.2 fps)
attitude
._I>IU t;o
nppl
,,
111 'iranM,'.|tion
of
sc_m;lrlo
to
Cl+t,wlnelll])_.,Y
,_f
;lutonlatie
bkmeuver
Work
s
'llu:
ft)
at
\,elo,'il.y
torques
:L,
;.ncmnl.
1,_,1l'.,
111 (300
stays
nlJ.lltates
ft-]b
cause
torque,'<
"rod
hotlys_
coqsk
Ill
100
fps,
_)
(at
tlu_
stepsl
tlloS_'
a>;is
re]aLive
with
tr;-lllsJ;iLcs
velocity
U
the
kVA
ax_-,s
I;oth
C;lch
these
ti_le--
<*.
i.:,xP;bv
fi
Velocity/Time
6
fps/llO
7, Fuei
sec
Con.mimed
4.5
Site
20
m
15
times
Translation
in
Overcoming
5
4.0
-
ips')37
sec
hours
umb:ilical
torque
8,37
duty
(5 se,:/60
2 a×es
cycle
sec)
8.32
duliy
(.5 see/60
cycle
sec)
7.2
sec
zl.3
.=,
Overcoming
limb
motion
torques
'2 axes
300
m
work
translation
from
O fps/]]O
s i.te
TOTAl.
77 •3Z
(30.9
49
ib
GN 2)
Thl.,;
s(-cnarJo
turbance
rates
the
or
IF_
i.
torques
of
for
lengths
'f a._Is
the
the
translation
rH]e
(described
thls
case
that
the
ties
during
work
the
sume
site
+Y
possible
is
axis
less
in
EVA
to
familiar
are
of
cres_lember
extet_ded
as
types
re_peets
time
still]
to
the
ar_
end
three
2 and
would
these
the
work
of
the
cre_,rmember
comfortable.
site.
and
(NOTE:
_xamp]e
rarely
Zt
be
should
times
Figure
use
at
case
would
indit'atod.
Table
periods
each
,q worst
described
velocities
IY_ ground
quickly
,_omo
also
26).
Thus
Lower
Is
assumed
proceed
as
that
velocities
velocities
in
ve].ocl-
to
higher
that
nominal
assumed
order
it
Lhe
11oted
the
translation
in
dJ.r;~
at
be
than
It was
hlghel
that
present
higher
site
becat_o
wou].d
the
in
con-
fuel.)
5O
:'i
APPENDIX
A,]
llardware
The
prJnc[p;_l
electron.its
a,_sembly
;llld
A-2,
l:tFUl%'S
'fwenty-f_ur
hand
tl,e
GN 2
and
located
preclude
a
fail-safe
from
which
that
into
the
at
in
full
least
tram
three-;|>:i._
supplied
rear
to
of
power
centre[
that
the
the
uni¢
conditioning
electronics
any
single
to
the
independent
assembly
failure
Orbiter
systems
set
The
of
thrusters
in
electronics
thrusters
not
vehicle.
control
control
twelve
does
(12
six-degree-of-freedom
system.
one
,tDIV,
(C;N2)
commands
tile
Is
top
logic,
safely
two
other
to
power
the
the
batteries.
returning
provides
in
.in
of
nitrogen
and
tile
bash'
zl control
dh_gr;m_
re_lckJng
at
its
components.
(TIIC)
Coli_marld
system
separated
h].ock
gaseous
by
mounted
the
failure
such
batteries
are
and
i)rlncipa]
t;]ectr.ical
bel{_w
are
of
(RIIC).
and
n
the
,ont-rr_l]er
mounted
astronaut
slmws
utkli.ztng
hnnd
Unit
crlrltro.l]ers,
control
are
the
Ii_md
,\-!
vessels.
a
,_lnneuvering
illustraLe
i_ressure
is
redundant
tl,.,o
gy:-oscopes
}DIU
each
of
DESCRIPTION
Hann,.d
thrusters
two
hehind
thrusters
each),
A-/_
position
fr_m
equi.pment,
The
th<,
Figure
alld
coal:rail.or
,'.l};I.' subsystems
event
(CEA),
tran:datlonal
rotational
The
of
six-degree-of-freedom
thrt_e-a>:is
(Ct:.A)
TECHNICAL
subsystem,
A-3_
fi:.;ed
full
between
_MU
eJumcnts
,2 prupu]s[Oll
provide
-
l)<.s.!_n
skrtlctur_,,
the
A
can
are
always
the
also
be
commanded.
In
from
addition
the
also
hand
to
astronaut
tude
in
axis,
the
If
rotational
the
control
commands
an
automatic
activating
command
axes
Three
and
By
can
three
quired.
manual
eontrollers_
available.
the
the
of
rate
rotation
gyros
logic
are
will
hold
by
rotations
logic
uses
fire
thrusters
on
51
the
thrusters
and
top
to
the
in
those
ho].d
rates.
astronaut
capability
RHC
maintain
command
attitude
cancel
of
the
automatically,
attitudes
data
by
(AA}{)
}[bll]will
when
to
hold
and
these
present
applied
located
firing
sense
already
are
attitude
switch
attitude
}D|U control
rates
a
which
each
the
is
is
grip,
attias
re-
rotationa]
thrusters.
commanded,
m
m
m
I
,
.._.]
J
--'-
1
_.. 0t-.-
0
....d
0_
C_
.@
I
°o
r_
52
/
_C
_3
I
53
_',°
.54
,_:-. :-_- -: ..................
................
•
•j
_........_.L...
•
,_--.---.......
i,i.i
.-
__.L_.
. _:
7"I
-.
i__..._Z,\_ \
_, _\ ____.
._,
k_
I
'-.i.
55
."_'T].L_; - --
_._
.............................
J
The
_500
two
psia
propellant
and
These
pressure
member
(see
lant
for
will
70°F,
each
tank
select
pellant
are
at
a
the
when
The
4V
a minimum
of
MMU
relatively
optimum
mass
on
Ii0
to
even
combination
offsets
are
of
EVA
by
fps;
subsequent
of
72
fps
to
In
or
(18
(36
an
per
order
multiple
GN 2
unassisted
GN 2
fuel
the
in
of
crew
propel-
axis
on-orblt
tank).
consumption
logic
to
at
a mission.
recharges
fps
addJtlon,
kg)
to
sufficient
maintain
thrusters
present
ib
prior
provides
designed
level.
40
ground
charge
135
AV
is
of
the
during
initial
equivalent
,_f the
total
a
charge
rechargeable
5.3).
equivalent
logic
contain
initial
vessels
provide
control
tanks
on
Section
an
The
to
0'
is
from
designed
conserve
commands
pro-
occur
simultaneously.
The
tion
FhMU
(FSS)
FSS
is
stowed
located
structure
in
provides
on-orbit
(nonoperational)
contains
the
holds
EVA
so
for
necessary
_s
the
can
One
be
launch
and
reentry
payload
bay
of
environmental
periods,
and
FSS
carried
can
on
mounted
each
on
Orbiter
56
Flight
(see
to
and
provisions,
the
the
Orbiter
protection
servicing
be
in
the
reentry
attachment
donnlng/doffing
crewmember.
two
for
the
landing.
foot
_4U
each
in
Figure
_U
The
orbit
of
by
FSS
the
launch,
also
and
an
Sta-
A-5).
during
restraints
side
flight.
Suppor't
hand-
unassisted
payload
bay
The
_m
.i
(3
g
_
;2.
%
_3
Q:
<'2
g
t_'a
57
_':_2_.
--¸
_
.....................
mass
of
sonnel
EMU/_H, IU system.
within
data
for
the
for
the
1968
1980
range
USAF
male
of
women
flying
The
the
maneuvering
5th
officers,
unit
percentile
to
the
based
95th
(FSS)
_U
a
Flight
is
launch
Orbiter
(see
the
(23
FSS
kg);
weight
should
the
MMU
Reference
dinate
System
is
center
the
control
A.3
the
can
system
is
_IU
FligJlt
The
maneuvering
crewmember
FSS
_fU
is
reentry
Section
is
of
A.I).
a
attach-
the
The
approximately
50
weight
Ib
hence
the
payload
launch
for
one
is
293
be
lb
noted
flight
MNU
(133
that
ap-
kg),
the
operational
the
vehicular
vary
between
175
mass
Station
The
the
the
It
weight
of
_n_Td system
astronaut
and
the
extra-
Coor-
approximately
of
data
penalty
includes
of
on
aboard
Support
and
is
proximately
weight
based
carrLed
to which
for
of
weight
per-
anthropometric
J]e
required.
structure
ed
astronaut
on
percent
each
Orbiter,
A-6
accommodate
officers.
For
Figm_e
will
for
Ib
I00
(80
typical
designed
to
and
kg).
mobility
215
ib
Figure
(45
A-7
for
to
(EMU).
i00
shows
astronaut/EMU/_U
compensate
unit
the
systems.
these
cm
kg);
The
the
EMU
location
The
_IU
offsets.
Characteristics
via
unit
_he
two
responds
hand
to
direct
controllers.
58
manual
For
commands
a
nominal
input
system
by
mass,
[]
System
CM for
5th
Percentile
Woman
CM ÷
+
System
CM for
50th
Percentile
Man
[]
System
CM For 95th
Percentile
Man
EMU/MMU 5th
e
lotal
Percentile
mass
:
504
Ib
e
Woman:
EMU/MMU 95th
(229
kg)
I
Launch
weight
MMU
243
FSS
50
293
.59
Total
mass
penalties:
Ib
(110
kg)
(23)
Ib
(133
kg)
Percentile
:
640
Man:
Ib
(29].
kg)
translation
acce]eratlons
tions
are
mode,
these
ler
i0.0
grip
are
terminated
axis
operations
mode,
Rotational
torques
The
The
a
V_U
in
across
while
sec
logic
(see
In
motion
tight
Fig.
the
grip
is
returned
a_es
(mu]tl-axis
in
a
accelera-
direct
fliyht
hand
control-
e_thcr
position.
to
Aceeleratlotl
the
center
commands)
2.8
to
6
of
thrusters
(AAH)
in
of
axis,
(if,
or
all
position.
are
possible
thrust;
there-
example,
a
by
and
the
of
the
the
Mb_
modes.
allows
of
to
(premisslon
is
on
the
the
rotation.
required
gyros.
¢rewmember
the
simultaneously.
as
rate
are
in
operations
axes
degrees
payload)
thrust
backup
firing
of
the
of
backup
thrusters
to !2.0
sensed
photographing
the
be
of
ibs
prime
capability
any
_0.5
in
the
can
fires
as
for
for
]bs
5.6
thrust
same
hold
a deadband
or
lbs
the
],4
generate
automatically
deadband
inspecting
null
attitude
rotational
this
or
rotational
whenever
approximately
are
attitude
within
any
center
commands
up
maintain
control
position
able)
a
to
operates
present
the
and
commands
automatic
crewmember
_ and
MMU
are
several
translation
mode.
mu]tl-axis
ft/see
the
develops
normal
For
+0.05
SJnc'e
levels.
_fl_U thruster
single
the
when
in
acceleration
Each
fore
from
commands
reduced
0.3
2.
levels
displaced
Simultaneous
a_
are
deg/sec
acceleration
is
commands
+3.0
hold
select-
Drift
rates
relatively
order
of
still
0.02
deg/
A-8).
AAH
mode,
filters
and
limit
cycle
member
limb
cyclic
disturbance
limited
axis.
AttitLde
or
yaw
axes
command
in
when
that
developed
minimum
deadband
motions
Three-axis
highly
and
is
impulse
that
fuel
control
is
logic
thrust
relatively
conservative
incorporating
repetition
rates
insensitive
_i_ the
limb
to
presence
allows
large
of
these
translation
in
crew-
torques.
attitude
hold
hold
be
the
axis.
can
can
commanded
inhibited
cre_cmember
For
be
independently
inputs
example,
if
6O
during
via
the
RHC
the
MMU
is
in
the
roll,
a manual
in
AAH
and
any
pitch
rotation
a
180 ° yaw
is
I_W I'7, deg/sec
2.0
].0
ATT i.TUDE 4 deg
-2.0
-I
,0
0.5
-0.5
1.0
NOTE :
figure
A-8
/,,All
Limit
required,
begin
yaw,
a 1-second
the maneuver
attitude
proximately
Cuolin.2 pith
yaw command
will
be maintained
can be
input
in the pitch
to cancel
the yaw rate,
or can
press
command
automntic
attitude
in all
axes
These
_.[MUflight
perform
ations
or servicing,
Specific
tasks
A.4
F!ight
}_U
The MMU
characteristics
inspection
are
and
or
allow
photographic
the variety
discussed
in more
During
and
can either
command
late,
at the hand
].0 deg/see.
the crewmember
hold
Single
Pulse
Firing
occurs
of Deadband
Thruster
at Fdgc
No Di:.'tza'banceTorq_.es
at approximately
17 seconds
2,0
roll
issue
controller
to
the rotation
in
axes.
After
another
the switch
on the
ap-
1 second
RHC
to
again.
the EVA
surveys,
of other
detail
crm,_nember
assist
tasks
listed
in Section
to trans-
in payload
oper-
in Section
6.0 of this
2.0.
guide.
Instrumentation
provides
instrumentation
signals
to the EMU
which
process
61
t
-...
u
_un
.L7
q
the
J_form_l;iol_
top
_or_zon_-a_
mounted
as
;.rod
sm:face
a
propellant
chc_st
The
the
battery
(A
B).
Thes¢_
provide
crewmember
c:autloz_
exceeds
20%,
and
and
300
5%
and
controls
tone).
available
has
the
remai_%ing
the
_one
tho
when
in
to
the
A
erewm_,mbL_r
modu3e
Norm_].ly_
B)
and
the
select
B)
or
s_quonee
a,nc.mL
GN 2
th_ _,
of
eontln-
for
of
_;_
(DCM)
_,_ displayed
to
A
a
]_VA
¢ontro]s
and
of
display
tan]; pressure
p_Ir_moters
w|_Ich
status.
an
a.dible
either
tone
pressure
remaining
A-I
the
capabillty
the
power
and
suit,
part
EMU/MMU
Table
tn
(systems
are
receives
GN 2 quantity
(wsrning
pressure
M,_F0 (,_ystems
dlsp]ays
also
when
d:l.sp3ay,_
I_IU displ_]ys
the
also
on
w_rning
psi,
when
and
o.
pn_er
two
informst:lon
The
the
i_t the
r._ex,_ember
either
v:lsu_]
ol
pack
remaining
uously,
and
provlde_
in
tank
er_:_,_ember
6_
thruster
cue,
and
difference
be_wee_
ON 2
tanks
the
battery
reaches
drops
summarizes
in
_he
the
as
a
lowest
below
10%
(status
instrumentation
MMU.
tone)
displays
..........
T
f.,"
(.J
I
::i
i
0
r
_
M
•
,o.
(_
,2
C:.
;.,a
-)
,.,4
I
°
U
eo
t/;
/
0
..h
f
j
..,
I
'2,
[_
,r-t
I
I
I
I
I
I
}-.,
"tD
_:°,
,k:
,2
'_'
r.l
4J
0.., l/.
_J
I
I
I
l
I
i
I
I
I
I
I
I
I
t_.4
_1-(
i
I
_3
I
I
e-
APPENDIX B - EVA GUIDELINES
F,.r
information
(e_cerpted
purposes,
from
a.
EVA
07700,
JSC
opera_lons
EVA
operations
are
EVA
(czoZud_ng
d.
E\_
may
be
e.
EVA
will
f.
Payloads
requiring
and
areas
g.
work
EVA
An
egress
(1219
h,
Payloads
to
Payload
and
the
to
a
lug
the
The
size
limits
of
the
available
4
this
EVA
actlvi-
shorter
dark
duration.
periods.
periods.
access
corridors
perform
the
re-
feet
the
minimum
length
airloek
area
must
outside
be
jetti-
operations.
design
potential
post
per
mobl]ity.
to
into
and
to
option.
duration
of
size
bay,
JSC
crew
vloble
communication
adjacent
mechanism
to
prep
adequste
ingency
a
EVAs
and
in
EVA-trained
6-hour
cre_._ember
infringe
com
location
inhibit
hatch
EVA
cargo
re-
forth
mus_
Orbiter
not
inhibit
unob-
contingency
work
areas
hay.
payload
viable
the
for
also
must
with
which
Is
EVA
ground
and
be
two
light
safely
access
will
airlock
both
operaLions
into
by
one
for
to
¢:onsLra]nLs
capabilities,
set
multiple
EVA
support
cargo
required
the
allow
EVA
Neither
ations
J,
must
emceed
preclude
EVA
_he
EVA
allow
path
sonable
using
nut
and
pres_:nted,
perfornled
during
guide.lines
_pecificatlons
constrained
to
hatch.
in
i.
be
tasks
mm),
structed
not
conducted
quired
EVA
time
does
not
and
should
the
This
tire'
one-crewmember
periods
tles).
EVA
devc].oped
norma]ly
However,
Planned
day
be
XIV)
definitions,
members.
c.
fol.lo_¢ing
Volume
will
quirements,
b.
Lh¢_
from
any
pressure
the
airloek,
the
cargo
return
location
must
terminating
external
in
a rapid
be
bay
nor
EVA
the
EVA
erewmembeY
of
in
the
possible
bay.
payload
Airlock
within
operto
the
repress
30 minutes
follow-
contingency.
tunnel
dimensions
64
adapter,
of
packages
and
associated
that
can
be
hatches
transferred
to
or
from
(1,270
in,
payl,_ads
him)
(/_57
P;l_:k;igv
f_r
ram)
k.
any
tJ.ons
Lh:It
orbiter
only
on
fied
before
with
those
two
_,..I]Inot
_'_mp_)t:ible
EVA
×
;rod
to
fur
¢>perate
22
in,
18
(558
in.
mln)
(457
x
ram)
pressure-suited
lllaxllnt_lll
50
x
be
each
MMU on
MMU is
which
._$fU
MMU operations
operatir,
g
65
or
near
excessive
rate
and
last
a
3.8
evaluated
on
or
anti
be
of
six
hours
:Ii_
operations
conducted
c'ombJna-
TBD,
for
2
two-
nominally.
'nlanned
the
rotati.on
mass
con:;umab]es
Jng
EVA
fr_._e-flying
rate
are
pre'p]anned
carried
can
together.
on,
Ml,li.!op¢_r_L|ons
t.quipment
the
for
an
tn.
operations,
._hal]
rotat:ional
with
operatir_ns,
the
in,
have
prey.ides
uti.lize
missions
units
ram)
dl.men:_lc:ms
which
nre
ordinarily
launch.
ram)
the:_e
Tile
can
bas_s,
(1.,270
a:<:is.
payload
mission)
Ln.
pay]oads
mJs_i¢_n
op,,rat:lons
(558
oper;|ttcms:
e:tceed:ing
or
about
crewm,_.mber
or
50
la.
basis.
satel]lte.-;
These
x
I'V,\ erewmembers
Kach
22
unxulted
sfz_,_;
Lndividual
Lc,
prior
Orbiter
vehicle
have
with
to
been
a
sing].e
identiunit,
an
APPENDIX
C -
REFERENCE DOCUMENTS
Number
!!_tj2_
_ource
MCR-78-500
Mamled Maneuvering
Unit Design
and Performance
Spvciflcation
Mart
Space
Shuttle
System
Ace otIlmod at t oils
NASA/JSC
JSC-O77OO,
Vo],
XIV
Paylo_Jd
In Marietta
1CD2-19001
Sbutt.le
Interfaces
JSC-10615
Shuttle
EVA Description
Desl gn Criteria
JSC-II123
Payloads
Handbook
JSC-i0532
Manned
tiona}
Opera-
RASA/JSC
JSC-07700-14-PIV-01
Space Shuttle System Payloads
Interface Verification
General
NASA/JSC
Orbiter/Cargo,
Safety
ESA
7800
SLP/2104
Guidelines
NASA/JSC
Hamil ton
Standard
Spacelab
Handbook
NASA/MSFC
Payload
Interim
Upper
Guide;
Users'
Spinning
Guide
Accommodations
Stage
System
Users'
Solid
NASA/Hdq.
NASA/MSFC
Stage
Long Duration
Exposure Facility
(LDEF) Guide for Experiment
Accommodations
NASA/LaRC
Multimission
Users' Guide
NASA/GSFC
KSC
VAFB
11803
NASA/JSC
Extravehicu]ar
Mobility Unit
Design and Performance
Requirements Specification
Launch
Ilandbook
JSC
NASA/JSC
and Requirements
Space Transportation
User Handbook
K-STSM-14.1
and
Maneuvering. Unit
RequJ rements
Approach
SVHS
Standard
STS
Modular
Site
Spacecraft
Accommodations
NASA/KSC
for STS Payloads
Ground
Flight
Operations
Planning
Plan
S¢_IS0
NASA/JSC
66
..,