Canadarm and Canadarm2 – A comparative table
The first Canadian robotic arm to go to space
Servicing the International Space Station since 2001
Installed on each Space Shuttle and returned to Earth.
Now retired, the Canadarm is on display at the Canada Aviation and Space Museum in Ottawa, Ontario.
|Stays permanently in space on board the International Space Station.|
|Range of motion||Reach limited to length of arm.||
Moves end-over-end to reach many parts of the International Space Station, where its anchoring "hand" plugs into a power, data, and video outlet.
Because it is mounted on the Mobile Base, the arm can travel the entire length of the Space Station.
|Fixed joint||Fixed to the shuttle by one end.||No fixed end.|
|Degrees of freedom||
Six degrees of freedom. Similar to a human arm:
Seven degrees of freedom. Very similar to a human arm:
|Joint rotation||Elbow rotation limited to 160 degrees.||
Each of Canadarm2's joints rotate 270 degrees in each direction, a total of 540 degrees.
This range of motion is greater than that of a human arm.
|Senses||No sense of touch.||
|Length||15 m||17 m|
|Mass||410 kg||1,497 kg|
|Diameter||33 cm (exterior diameter of composite boom)||35 cm (exterior diameter of composite boom)|
|Speed of operation||
|Composition||16 layers of high-modulus carbon fibre epoxy||19 layers of high-strength carbon fibre thermoplastic|
|Repairs||Repaired on Earth.||Designed to be repaired in space. Composed of removable sections that can be individually replaced in space.|
|Control||Controlled by astronauts on the Space Shuttle.||Controlled from the ground or by astronauts on the International Space Station.|
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