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Likewise the [[Prichal (ISS module)|Prichal module]] will host the grapple fixtures for the redocking of future modules docked to it from one port to another using the Lyappa Arm attached to those modules.
Likewise the [[Prichal (ISS module)|Prichal module]] will host the grapple fixtures for the redocking of future modules docked to it from one port to another using the Lyappa Arm attached to those modules.


Both the Wentian and Mengtian modules of the planned [[Tiangong space station]] will also carry arms to enable them to manoeuvre around the docking hub of the ''[[Tianhe core module]]''. A mechanical arm dubbed, as Indexing robotic arm, looking a sort of Lyappa arm will be the arm on the modules to allow them to dock to a radial port of the CCM.<ref>{{cite news |url=https://www.nasaspaceflight.com/2021/04/china-station-construction-begins/ |title=China readies launch of Tianhe module, start of ambitious two-year station construction effort |first1=William |last1=Graham |first2=Chris |last2=Gebhardt |date=April 28, 2021 |publisher=NASASpaceflight.com |quote=This means the two future science modules, Wentian (“Quest for the heavens”) and Mengtian (“Dreaming of the heavens”), cannot dock directly to their planned radial port locations. [...] To account for this, each module will carry a Russian Lyappa robotic arm — like the ones used on Mir for the same purpose — to move the module from the forward port to its respective permanent location on a radial port of Tianhe's docking hub.}}</ref> It is different from Lyappa as it works on a different mechanism. Lyappa arm is needed to control the pitch of the spacecraft and redocking in a different plane. But the indexing robot arm where docking is needed in the same plane. In addition to this arm used for docking relocation, the Chinarm on ''Tianhe'' module can also be used as a backup.<ref>{{Cite book |last=Hong Yang |url=https://www.amazon.in/Manned-Spacecraft-Technologies-Space-Science/dp/9811548978 |title=Manned Spacecraft Technologies |publisher=Springer |year=2020 |isbn=978-9811548970 |location=China |pages=355}}</ref><ref>{{cite news |url=https://www.nasaspaceflight.com/2021/04/china-station-construction-begins/ |title=China readies launch of Tianhe module, start of ambitious two-year station construction effort |first1=William |last1=Graham |first2=Chris |last2=Gebhardt |date=April 28, 2021 |publisher=NASASpaceflight.com}}</ref>
Both the Wentian and Mengtian modules of the planned [[Tiangong space station]] will also carry arms to enable them to manoeuvre around the docking hub of the ''[[Tianhe core module]]''. A mechanical arm dubbed the Indexing robotic arm, which looks similar to the Lyappa arm, will be the arm on the modules to allow them to dock to a radial port of the CCM.<ref>{{cite news |url=https://www.nasaspaceflight.com/2021/04/china-station-construction-begins/ |title=China readies launch of Tianhe module, start of ambitious two-year station construction effort |first1=William |last1=Graham |first2=Chris |last2=Gebhardt |date=April 28, 2021 |publisher=NASASpaceflight.com |quote=This means the two future science modules, Wentian (“Quest for the heavens”) and Mengtian (“Dreaming of the heavens”), cannot dock directly to their planned radial port locations. [...] To account for this, each module will carry a Russian Lyappa robotic arm — like the ones used on Mir for the same purpose — to move the module from the forward port to its respective permanent location on a radial port of Tianhe's docking hub.}}</ref> It is different from Lyappa as it works on a different mechanism. Lyappa arm is needed to control the pitch of the spacecraft and redocking in a different plane. But the indexing robot arm where docking is needed in the same plane. In addition to this arm used for docking relocation, the Chinarm on ''Tianhe'' module can also be used as a backup.<ref>{{Cite book |last=Hong Yang |url=https://www.amazon.in/Manned-Spacecraft-Technologies-Space-Science/dp/9811548978 |title=Manned Spacecraft Technologies |publisher=Springer |year=2020 |isbn=978-9811548970 |location=China |pages=355}}</ref><ref>{{cite news |url=https://www.nasaspaceflight.com/2021/04/china-station-construction-begins/ |title=China readies launch of Tianhe module, start of ambitious two-year station construction effort |first1=William |last1=Graham |first2=Chris |last2=Gebhardt |date=April 28, 2021 |publisher=NASASpaceflight.com}}</ref>


==Name==
==Name==

Revision as of 01:59, 29 May 2022

Lyappa arm on Mir mock-up at the Gagarin Cosmonaut Training Center.

The Lyappa (or Ljappa) arm, officially Automatic system of re-docking (Russian: Автоматическая система перестыковки (АСПр), romanized: Avtomaticheskaya sistema perestykovki (ASPr)), was a robotic arm used during the assembly of the Soviet/Russian space station Mir. Each of the Kvant-2, Kristall, Spektr and Priroda modules was equipped with one of these arms, which, after the module had docked to the Mir Core Module's forward (or axial) port, grappled one of two fixtures positioned on the core module's hub module. The module's main docking probe was then retracted, and the arm raised the module so that it could be pivoted 90 degrees for docking to one of the four radial docking ports.[1][2][3]

Likewise the Prichal module will host the grapple fixtures for the redocking of future modules docked to it from one port to another using the Lyappa Arm attached to those modules.

Both the Wentian and Mengtian modules of the planned Tiangong space station will also carry arms to enable them to manoeuvre around the docking hub of the Tianhe core module. A mechanical arm dubbed the Indexing robotic arm, which looks similar to the Lyappa arm, will be the arm on the modules to allow them to dock to a radial port of the CCM.[4] It is different from Lyappa as it works on a different mechanism. Lyappa arm is needed to control the pitch of the spacecraft and redocking in a different plane. But the indexing robot arm where docking is needed in the same plane. In addition to this arm used for docking relocation, the Chinarm on Tianhe module can also be used as a backup.[5][6]

Name

The word “Lyappa” does not exist in Russian. It is probably a corruption of Russian: лапа, romanized: lapa, lit. 'paw'.

A fundamentally new element in this operation is the re-docking manipulator. Sometimes we just called it “paw”, which was clearer. This electromechanical arm, short and powerful, really resembled the paw of a Siberian bear, hence its name.

— Vladimir Syromyatnikov[7]
  • Lyappa arm and attach fixture on Mir
    Lyappa arm and attach fixture on Mir
  • Lyappa arm at the RKK Energiya museum
    Lyappa arm at the RKK Energiya museum
  • A diagram showing how the arm was used to relocate Kvant-2.
    A diagram showing how the arm was used to relocate Kvant-2.
  • A diagram showing the Konus drogue and module movements around Mir's docking node
    A diagram showing the Konus drogue and module movements around Mir's docking node

References

  1. ^ David Harland (30 November 2004). The Story of Space Station Mir. New York: Springer-Verlag New York Inc. ISBN 978-0-387-23011-5.
  2. ^ David S. F. Portree (March 1995). Mir Hardware Heritage. NASA.
  3. ^ "Archived copy" (PDF). Archived from the original (PDF) on 2011-10-15. Retrieved 2012-02-11.{{cite web}}: CS1 maint: archived copy as title (link)
  4. ^ Graham, William; Gebhardt, Chris (April 28, 2021). "China readies launch of Tianhe module, start of ambitious two-year station construction effort". NASASpaceflight.com. This means the two future science modules, Wentian ("Quest for the heavens") and Mengtian ("Dreaming of the heavens"), cannot dock directly to their planned radial port locations. [...] To account for this, each module will carry a Russian Lyappa robotic arm — like the ones used on Mir for the same purpose — to move the module from the forward port to its respective permanent location on a radial port of Tianhe's docking hub.
  5. ^ Hong Yang (2020). Manned Spacecraft Technologies. China: Springer. p. 355. ISBN 978-9811548970.
  6. ^ Graham, William; Gebhardt, Chris (April 28, 2021). "China readies launch of Tianhe module, start of ambitious two-year station construction effort". NASASpaceflight.com.
  7. ^ Сыромятников 2010, pp. 189–197, Перестыковка: как часовой механизм.

Literature

  • Сыромятников, Владимир (2010). 100 рассказов о стыковке. Часть 2 (in Russian). М.: Университетская книга Логос. ISBN 978-5-98704-455-1.
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