Introduction

The European Robotic Arm (ERA) is a cooperative venture between ESA and Rosaviakosmos (RAKA), the Russian space agency. ERA began life as the Hermes Robot Arm (HERA) for the Hermes mini-shuttle. When Hermes was discontinued, studies for it to fly on Russia's proposed Mir-2 second generation space station were conducted between Fokker Space (then Fokker) and RSC-Energia. These studies highlighted the value of a robotic manipulator for space station operations in reducing the time
needed for expensive manned activities in a hazardous environment.

Following Russia joining the International Space Station (ISS) programme in 1993, the ERA cooperation continued and the arm was formally incorporated into the station's Russian Segment in July 1996. ERA's development is funded by ESA with Fokker Space of The Netherlands as its prime contractor leading a European consortium. Russia's industrial partner for Fokker remains RSC-Energia, who is the prime contractor of the Russian Segment, under contract to RAKA.

ERA is expected to arrive at the Station during the course of TBD. It will be mounted on the Science and Power Platform (SPP) of the Russian Segment, with the composite being launched aboard the US Shuttle. Once installed in orbit, ERA will help to assemble the Russian Segment. Amongst its first tasks will be the
installation of the SPP's solar arrays.

ERA's Principal Features

Although smaller than Canada's Space Station Remote Manipulator System (SSRMS), ERA is a large robot by any standards - it is about 11.3 m long and weighs some 630 kg. It is functionally symmetrical, with each end sporting an 'End-Effector' that works either as a hand for the robot or as a base from which the arm can operate. ERA has seven joints (in order: roll, yaw, pitch, pitch, pitch, yaw, roll), of which six can operate at any one time. This configuration allows ERA to relocate itself on to different 'Basepoints' on the SPP, using an End-Effector-mounted camera to locate a Basepoint accurately.