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4.1.1 Functional Requirements
The DR shall be able to perform the following operations:
DR.F1 Power augmentation
DR.F1.1 Tap SA3 power at P6A and P8A on both HST diode boxes.
DR.F1.2 Rout SA3 power to DM via new harness
DR.F1.3 Harness Attachments (12 locations) to hold down conduit
DR.2 WFC3 installation
DR.F2.1 Attach new ground strap stowage fixture
DR.F2.2 WF/PC2 Interface plate
DR.F2.3 WF/PC 2 blind mate release
DR.F2.4 Release and secure Ground strap
DR.F2.5 Release A latch
DR.F2.6 Remove and stow WF/PC2
DR.F2.7 Retrieve and position WFC3
DR.F2.8 Install WFC3 into telescope
DR.F2.9 Replace latch A
DR.F2.10 Replace ground strap
DR.F2.11 Replace blind mate
DR.F2.12Final stow WF/PC2
DR.F3 Gyro data and power augmentation
DR.F3.1 486 - 1553 data bus installation (J9 connector on HST bay 1)
DR.F3.2 Power for Gyros supplied by harness from DM to WFC3
DR.F4 All the above functions have to be performed while being supported by the GA and
therefore have to satisfy interface requirements from the GA team
4.1.2 Performance Requirements
The DR shall:
DR.P1 Capable of maneuvering arm/s anywhere in the workspace
accuracy of ± 1° relative to commanded position
resolution better than 0.1” and 0.1°
DR.P2 Torque drive of 50 ft-lb and
DR.5.1 track the progression of tool by counting turns and monitoring torque
DR.P3 Be capable of stopping a 1000lb mass from maximum commanded tip velocity within 2”
and 2°
DR.P4 DR shall be capable of limiting forced normal to constrained translational paths to no
more than 10lbs and delivering up to 25lbs along those paths
DR.P4.1 Shall have a six axis force and torque sensor near end effector to sense the
torque and force at end effector with accuracy of less than ±2lbs and ±2ft-lb as
measured at end effector
DR.P5 Consume less than 300W that has been assumed to be the current power budget.
DR.P6 Weigh less that 500Kg which we assumed is the mass budget allowed.
The detailed requirement tree derived from these requirements can be found in Appendix 2
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