How were the modules on Mir moved around? I know it was accomplished by some kind of arm, but I cannot find any information on it. Was it operated by spaewalk, or from inside the station? Is there a photo of it?
brahmanknight - 29/6/2007 9:44 PM
How were the modules on Mir moved around?
All modules (Kvant-2, Kristall, Spektr, Priroda) had their own manipulators... All relocations were done in automatic mode (commands from MCC-M)... The transfer compartment of Mir Base Block had two grapple fixtures for modules' manipulators...
An earlier version of the existing Strela Boom (as is currently used on the ISS) was used. It was (and is) a manually operated, telescoping, alt-azimuth device. It is only operated by a Cosmo/Astro-naut under EVA conditions.
Search on "strela Boom", you will find plenty of references and photos/drawings
Almurray1958 - 29/6/2007 1:06 PM
An earlier version of the existing Strela Boom (as is currently used on the ISS) was used. It was (and is) a manually operated, telescoping, alt-azimuth device. It is only operated by a Cosmo/Astro-naut under EVA conditions.
Search on "strela Boom", you will find plenty of references and photos/drawings
Nope. Strela was not strong enough to move modules around. The arms that were used to move the modules were called "Lyappa". As Anik wrote, they were mounted on the modules (Kvant-2, Kristall, Spektr, and Priroda) and attached themselves to small sockets on the multi-docking adapter on the Mir Base Module to rotate the modules from port-to-port. The arms were very small and not easily visible in photographs of Mir. See:
http://en.wikisource.org/wiki/Mir_Hardware_Heritage/Part_3_-_Space_Station_Modules
Image of manipulator of automatic relocation system (ASPr) from David S. F. Portree's Mir Hardware Heritage (page 165)...
Ljappa. A summary from an MSFC document:
This item, the
Ljappa arm, is required for construction of the Mir Station. The Ljappa arm is a
mechanically-driven arm which is used to move modules from the forward (or axial)
docking ports to permanent radial docking ports. The arm (1) is mated onto a socket (2)
that is located on the Mir’s multiple docking assembly adjacent to the -XB end of the Base
Block. Once the arm is mated, the modules main docking probe is retracted, and the arm
raises the module so that it can be pivoted 90° for docking to one of the radial docking
ports. The hinge of the arm is pointed out in Item 3. This STS-79 photograph is the most
detailed image of the Ljappa arm obtained to date.
Google Ljappa and you'll find some more detail. It was more of a crane than a robot arm and it is not very long, nothing like the SRMS.
ASPr manipulator at museum in RSC Energia... Photo from Jonathan McDowell's
website...