Editing Mobile Servicing System (section)

==Canadarm2==
[[File:Leroy Chiao working on Space Station Remote Manipulator System.jpg|thumb|left|250px|Astronaut
[[Leroy Chiao]] controlling Canadarm2 from the [[Destiny Laboratory Module|Destiny]] lab]]
[[File:Canadarm2 Latching End Effector and joints (ISS052e000402).jpg|thumb|The exterior of the Canadarm is clad with Kevlar fabric, while the arm itself is made from [[titanium]], pictured above [[Lake Balkhash]].]]
[[File:Melvin working on robotic computers in US lab.jpg|thumb|left|250px|[[Leland Melvin]] working on the robotic control computers]]
[[File:ISS-26 Canadarm2 and Dextre with Flex Hose Rotary Coupler.jpg|thumb|A unique view of the whole arm, MBS and Dextre, grappling containers while near the massive solar arrays]]
[[File:Cygnus 7 captured by Canadarm2.jpg|thumb|Canadarm2 captures [[Cygnus OA-5|Cygnus OA-5 ''S.S. Alan Poindexter'']] in late 2016]]
Officially known as the '''Space Station Remote Manipulator System''' (SSRMS), Canadarm2 was launched on [[STS-100]] in April 2001. This second generation arm is a larger, more advanced version of the [[Space Shuttle]]'s original [[Canadarm]]. Canadarm2 is {{convert|17.6|m|abbr=on}} when fully extended and has seven motorized joints (an 'elbow' hinge in the middle, and three rotary joints at each of the 'wrist/shoulder' ends). It has a mass of {{convert|1800|kg|abbr=on}}, a diameter of {{convert|35|cm|abbr=on}}, and is made from titanium. The arm can handle large payloads of up to {{convert|116000|kg|abbr=on}} and could assist with docking the space shuttle. It is self-relocatable and can move end-over-end to reach many parts of the Space Station in an [[Geometer moth#Caterpillars|inchworm]]-like movement. In this movement, it is limited only by the number of [[Power Data Grapple Fixture]]s (PDGFs) on the station. PDGFs located around the station provide power, data and video to the arm through either of its two Latching End Effectors (LEEs). The arm can also travel the entire length of the space station truss using the Mobile Base System.

In addition to moving itself around the station, the arm can move any object with a [[grapple fixture]]. In construction of the station the arm was used to move large segments into place. It can also capture unpiloted ships like the [[SpaceX Dragon]], the [[Cygnus (spacecraft)|''Cygnus'' spacecraft]], and Japanese [[H-II Transfer Vehicle]] (HTV), which are equipped with a standard grapple fixture that the Canadarm2 uses to capture and berth the spacecraft. The arm is also used to unberth and release the spacecraft after use.

On-board operators see what they are doing by looking at the three Robotic Work Station (RWS) LCD screens. The MSS has two RWS units: one in the [[Destiny (ISS module)|''Destiny'' module]] and the other in the [[Cupola (ISS module)|''Cupola'']]. Only one RWS controls the MSS at a time. The RWS has two sets of control joysticks: one Rotational Hand Controller (RHC) and one Translational Hand Controller (THC). In addition to this is the Display and Control Panel (DCP) and the Portable Computer System (PCS) laptop.

In recent years,{{When|date=April 2025}} the majority of robotic operations are commanded remotely by flight controllers at [[Christopher C. Kraft Jr. Mission Control Center]] or the [[Canadian Space Agency]]'s [[John H. Chapman Space Centre]]. Operators can work in shifts to accomplish objectives with more flexibility than when done by on-board crew operators, albeit at a slower pace. Astronaut operators are used for time-critical operations such as visiting vehicle captures and robotics-supported [[extra-vehicular activity]].

Some time before 12 May 2021 Canadarm2 was hit by a small piece of orbital debris, damaging its thermal blankets and one of the booms.<ref name=star2021 /> Its operation appeared to be unaffected.<ref name=star2021>{{cite news |last=Michelle |first=Star |date=31 May 2021 |title= Space Debris Has Hit And Damaged The International Space Station  |url=https://www.sciencealert.com/space-debris-has-damaged-the-international-space-station |work=Science Alert|access-date=31 May 2021}} </ref>

Canadarm 2 will also help to berth the [[Axiom Orbital Segment|Axiom Space Station]] modules to the [[ISS]].<ref>{{Cite web|title=Axiom Station Assembly Sequence — Axiom Space Axiom Space |url=https://www.axiomspace.com/axiom-station/assembly-sequence|access-date=2021-08-09|website=[[Axiom Space]]}}</ref><ref>{{Cite web|title=A Private Space Station Might Be Born From the ISS - Seeker|url=https://www.seeker.com/international-space-station-retire-private-axiom-orbit-commercializati-2214242152.html|access-date=2021-09-26|website=www.seeker.com|date=25 January 2017 |language=en}}</ref>

===Latching End Effectors===
[[File:LEE.png|right|thumb|upright=1.3|LEE drawing]]
[[File:Latching End Effector picture.jpg|right|thumb|upright=1.3|Latching end effector (LEE)]]
Canadarm2 has two LEEs, one at each end. A LEE has three snare wires to catch the [[grapple fixture]] shaft.<ref name=sts126_eva_cl>[http://www.nasa.gov/centers/johnson/pdf/290103main_sts126_eva_checklist.pdf EVA Checklist STS-126 Flight Supplement, 2008]  pages 115, 117, 118</ref> Another LEE is on the Mobile Base System's Payload ORU Accommodations (POA) unit. The POA LEE is used to temporarily hold large ISS components. One more is on the Special Purpose Dexterous Manipulator (SPDM, also known as "Dextre" or "Canada hand"). Six LEEs have been manufactured and used in various locations on the ISS.{{CN|date=January 2024}}

{| class="wikitable sortable"
|-
! S/N !! Initial location !! Current location
|-
| 201 || LEE B || POA LEE
|-
| 202 || LEE A || Earth, to be refurbished for Ground Spare
|-
| 203 || POA LEE || LEE A
|-
| 204 || Spare stored on [[ExPRESS Logistics Carrier|ELC1]] || LEE B
|-
| 205 || Earth, Ground Spare || Spare stored on exterior ISS
|-
| 301 || SPDM LEE  || SPDM LEE
|}