456:
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357:, then the head of the NRC, gave the SRMS the informal name, Canadarm. The term was originally coined by Dr. Wally Cherwinski for use by Larkin Kerwin during his speech at the press conference. The NRC Canadarm Project Manager, Dr. Art Hunter, worked with colleagues, NASA and Spar, to add the Canadian flag and wordmark onto the arm to fly Canadian colours with those of the USA.
417:
One crew member operates the
Canadarm from the aft flight deck control station, and a second crew member usually assists with television camera operations. This allows the Canadarm operator to view Canadarm operations through the aft flight deck payload and overhead windows and through the closed-circuit television monitors at the aft flight deck station.
399:
up to 65,000 pounds (29,000 kg) in space. In the mid-1990s, the arm control system was redesigned to increase the payload capability to 586,000 pounds (266,000 kg) in order to support space station assembly operations. While able to maneuver payloads with the mass of a loaded bus in space,
329:
provided the display and control panel and the hand controllers located in the
Shuttle aft flight deck. Other electronic interfaces, servo amplifiers, and power conditioners located on the Canadarm were designed and built by SPAR at its Montreal factory. The graphite composite boom that provides the
416:
The basic
Canadarm configuration consists of a manipulator arm, a Canadarm display, and a control panel, including rotational and translational hand controllers at the orbiter aft flight deck flight crew station, and a manipulator controller interface unit that interfaces with the orbiter computer.
428:. It weighs 410 kilograms (900 lb) by itself, and 450 kilograms (990 lb) as part of the total system. The Canadarm has six joints that correspond roughly to the joints of the human arm, with shoulder yaw and pitch joints, an elbow pitch joint, and wrist pitch, yaw, and roll joints. The
304:
Anthony "Tony" Zubrzycki, a design engineer at DSMA ATCON, while seconded to SPAR, originated the concept for the
Canadarm End Effector, inspired by an elastic band around his fingers. Zubrzycki formally presented this concept to NASA officials. Frank Mee, head of the SPAR mechanical development
296:). Three systems were constructed within this design, development, test, and evaluation contract: an engineering model to assist in the design and testing of the Canadarm, a qualification model that was subjected to environmental testing to qualify the design for use in space, and a flight unit.
338:. Dilworth, Secord, Meagher and Associates, Ltd. in Toronto was contracted to produce the engineering model end effector then SPAR evolved the design and produced the qualification and flight units. The Space Shuttle flight software that monitors and controls the Canadarm was developed in
305:
laboratory, built the end effector prototype based on Tony's concept and is credited by SPAR as the inventor of the
Canadarm End Effector. The three-wire crossover design won over the claw-like mechanisms and others, such as the camera iris model, that were being considered.
420:
The
Canadarm is outfitted with an explosive-based mechanism to allow the arm to be jettisoned. This safety system would have allowed the Orbiter's payload bay doors to be closed in the event that the arm failed in an extended position and was not able to be retracted.
517:(ISS), the two arms have been used to hand over segments of the station for assembly from the orbiter's Canadarm to the Canadarm2; the use of both elements in tandem has earned the nickname of "Canadian Handshake" in the media.
1757:
412:
crew members for work stations or foot restraints, and be used as an inspection aid to allow the flight crew members to view the orbiter's or payload's surfaces through a television camera on the
Canadarm.
436:. The two lightweight boom segments are called the upper and lower arms. The upper boom connects the shoulder and elbow joints, and the lower boom connects the elbow and wrist joints.
486:
was seen when the prototype orbiter's payload bay doors were open to test hangar facilities early in the Space
Shuttle program. The Canadarm was first tested in orbit in 1981, on
1230:
1303:
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and onboard operating procedures for the system. In all, five arms – Nos. 201, 202, 301, 302, and 303 – were built and delivered to NASA. Arm 302 was lost in the
1289:
995:
273:. At the time what that participation would entail had not yet been decided but a manipulator system was identified as an important component. Canadian company
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the arm motors cannot lift the arm's own weight when on the ground. NASA, therefore, developed a model of the arm for use at its training facility within the
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350:'s Space Transportation Systems Division designed, developed, tested, and built the systems used to attach the Canadarm to the payload bay of the orbiter.
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on STS-135 in July 2011, was shipped to NASA's
Johnson Space Center in Houston for engineering study and possible reuse on a future mission.
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structural connection between the shoulder and the elbow joint and the similar boom that connects the elbow to the wrist were produced by
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to deploy and manoeuvre the Plasma
Diagnostics Package. Canadarm subsequently flew on more than 90 missions with all five orbiters.
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932:"REMOTE MANIPULATOR SYSTEM (RMS)- BASED CONTROLS-STRUCTURES INTERACTION(CSI) FLIGHT EXPERIMENT FEASIBILITY STUDY"
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387:, anchored on the end of the Canadarm, prepares to be elevated to the top of the Hubble Space Telescope during
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Browsing Science Research at the Federal Level in Canada: History, Research Activities and Publications
408:. The Canadarm can also retrieve, repair and deploy satellites, provide a mobile extension ladder for
253:
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An acceptance ceremony for NASA was held at Spar's RMS Division in Toronto on 11 February 1981. Here
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285:(NRC) signed a memorandum of understanding that Canada would develop and construct the Canadarm.
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The Canadarm is 15.2 metres (50 ft) long and 38 centimetres (15 in) diameter with six
647:
on its home search page to celebrate the 31st anniversary of the Canadarm's first use in space.
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is used for berthing the trusses, berthing the commercial vehicles, and inspecting the whole
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630:. In June 2024, the full contract for design and construction of the arm was awarded to
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562:, while its Canadarm was originally going to be displayed in the headquarters of the
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1231:"Canada begins detailed design, construction and testing of Canadarm3 for Gateway"
1202:"Canada's space program sets new course with historic commitment to lunar outpost"
768:
755:
Mee is the inventor of the Canadarm hand, technically known as the "end effector.
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1941:
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241:(OBSS), which was used to inspect the exterior of the shuttle for damage to the
218:
80:
1157:"Minister Moore Unveils Exhibit for Canada's National Space Icon: the Canadarm"
1082:"Discovery's retirement plans provide insight into the fate of the robotic arm"
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The smaller Canadarm3 will be used for berthing the modules and inspecting the
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1105:"Unveiling exhibit, Hadfield sends first Canadarm 'last command' from space"
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893:
Engineering Women: Re-visioning Women's Scientific Achievements and Impacts
1187:"Canadarm on display: Space shuttle robot arm unveiled at Canadian museum"
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The main control algorithms were developed by SPAR and by subcontractor
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Starting November 7, 2013, Canadarm2 was included on the back of the
578:
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257:
Life-size replica of the Canadarm at the Euro Space Center in Belgium
49:
581:. The last of the Canadarms to fly in space, the SRMS flown aboard
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The Canadarm's 90th and final Shuttle mission was in July 2011 on
503:
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The first Canadarm was delivered to NASA in April 1981. Astronaut
252:
190:
1900:
1890:
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1131:"Space Shuttle's Robotic Arm Goes on Display at Canadian Museum"
558:
left its OBSS at the International Space Station as part of its
432:
is the unit at the end of the wrist that grapples the payload's
396:
266:
177:
60:
1956:
1492:
1312:
743:. David Steel. Canada: Spar Aerospace Limited. pp. 41–42.
705: – Robotic system on board the International Space Station
281:; this robot attracted NASA's attention. In 1975, NASA and the
146:
1,520 cm × 38 cm (598 in × 15 in)
343:
459:
The Canadarm2 moves toward a P5 truss section, being held by
949:"Space Shuttle Canadarm Robotic Arm Marks 25 Years in Space"
740:
A Heritage of Excellence: 25 years at Spar Aerospace Limited
711: – Russian crane on the International Space Station
694: – Robotic arm installed on the ISS Russian Segment
395:
The original Canadarm was capable of deploying payloads
872:"The Shuttle Remote Manipulator System – The Canadarm"
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CBC Digital Archives - Canadarm - A Technology Star
183:
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698:Kibo (ISS module) § Remote Manipulator System
552:National Air and Space Museum's Udvar-Hazy Center
466:s Canadarm, in preparation for a hand-off during
960:
958:
643:On November 13, 2012, Google Canada displayed a
2390:Shuttle Avionics Integration Laboratory (SAIL)
573:s Canadarm is now on permanent display at the
277:ATCON had developed a robot to load fuel into
48:Canadarm (right) during Space Shuttle mission
1968:
1504:
1324:
267:National Aeronautics and Space Administration
19:This article is about the robotic arm on the
8:
1286:RMS: PAYLOAD DEPLOYMENT AND RETRIEVAL SYSTEM
998:RMS: PAYLOAD DEPLOYMENT AND RETRIEVAL SYSTEM
895:, By Jill S. Tietjen, Springer 2016, page 72
801:
799:
797:
773:. University of Toronto Press. p. 117.
36:
850:. Heirloom Publishing Inc. pp. 62–77.
681:List of Canadian inventions and discoveries
538:to the ISS and back. It is on display with
225:orbiters to deploy, manoeuvre, and capture
1975:
1961:
1953:
1530:
1511:
1497:
1489:
1331:
1317:
1309:
903:
901:
550:s Canadarm is displayed next to it in the
502:mission. Its first operational use was on
237:, the Canadarm was always paired with the
42:
35:
2548:Shuttle-Derived Heavy Lift Launch Vehicle
1075:
1073:
732:
730:
728:
726:
724:
1052:"Coming to space: A Canadarm handshake?"
288:NRC awarded the manipulator contract to
1865:Defence Research and Development Canada
1229:Agency, Canadian Space (27 June 2024).
814:. University of Alberta. Archived from
720:
2744:Rendezvous: A Space Shuttle Simulation
1256:"Google doodle honours Canadarm at 31"
911:. Canada Space Agency. 28 October 2011
474:A simulated Canadarm installed on the
2786:When We Left Earth: The NASA Missions
1860:Communications Research Centre Canada
1299:Canadian Space Agency : Canadarm
808:"Canadarm and its U of A Connections"
342:, by the Federal Systems Division of
7:
1155:Canadian Space Agency (2 May 2013).
841:
839:
837:
835:
833:
544:Kennedy Space Center Visitor Complex
2765:Space Shuttle: A Journey into Space
1815:MacDonald, Dettwiler and Associates
1200:Semeniuk, Ivan (28 February 2019).
1080:Chris Gebhardt (17 November 2010).
1027:"Vandenberg's space shuttle hangar"
604:Based on the Canadarm1, the larger
283:Canadian National Research Council
16:Robotic arm used on Space Shuttles
14:
207:Shuttle Remote Manipulator System
37:Shuttle Remote Manipulator System
2818:Science and technology in Canada
665:
575:Canada Aviation and Space Museum
2510:Spartan Packet Radio Experiment
1927:Churchill Rocket Research Range
1129:Elizabeth Howell (2 May 2013).
2779:Orbiter Space Flight Simulator
2158:Multi-Purpose Logistics Module
1025:Ray, Justin (5 January 2011).
509:Since the installation of the
1:
2734:(2020 documentary miniseries)
2505:Inflatable Antenna Experiment
269:(NASA) to participate in the
23:. For the robotic arm on the
2731:Challenger: The Final Flight
2632:Space Shuttle design process
2474:Shuttle Ejection Escape Suit
2469:Extravehicular Mobility Unit
1855:Canadian Geospace Monitoring
1784:John H. Chapman Space Centre
930:Demeo, M.E. (January 1990).
909:"Flight History of Canadarm"
846:Melbourne, James V. (2001).
2654:International Space Station
2438:Journalist in Space Project
2385:Orbiter Processing Facility
1932:International Space Station
1103:Andy Johnson (2 May 2013).
610:International Space Station
515:International Space Station
451:on the end of the arm, 1993
25:International Space Station
2856:
2772:Space Shuttle Mission 2007
2312:Approach and Landing Tests
2041:Orbital Maneuvering System
688: – Robotic arm on ISS
619:
597:
239:Orbiter Boom Sensor System
18:
2707:Columbia: The Tragic Loss
2484:Advanced Crew Escape Suit
2407:Shuttle Training Aircraft
2268:Shuttle Training Aircraft
2263:Shuttle Mission Simulator
2258:Rendezvous pitch maneuver
2148:Remote Controlled Orbiter
2143:Extended Duration Orbiter
2051:Thermal protection system
1990:
1870:National Research Council
968:The structure of Canadarm
652:Canadian five dollar note
243:thermal protection system
135:450 kg (990 lb)
129:410 kg (900 lb)
41:
2515:Shuttle pallet satellite
2443:Teacher in Space Project
2395:Shuttle Carrier Aircraft
2375:Mobile Launcher Platform
2201:Shuttle Landing Facility
2056:Booster separation motor
1789:David Florida Laboratory
1292:31 December 2016 at the
812:U of A Engineer Magazine
2813:Space program of Canada
2723:The Challenger Disaster
2046:Reaction control system
1438:Mobile Servicing System
703:Mobile Servicing System
410:extravehicular activity
376:Design and capabilities
29:Mobile Servicing System
2191:Space Launch Complex 6
1879:International partners
1794:Saskatoon CSA Building
1731:Other space technology
1712:RADARSAT Constellation
471:
452:
392:
348:Rockwell International
279:CANDU nuclear reactors
258:
221:that were used on the
2823:Space Shuttle program
2808:Spacecraft components
2751:Space Shuttle Project
2738:Space Shuttle America
2649:Payload Assist Module
2306:(engine test article)
1984:Space Shuttle program
1520:Canadian Space Agency
1161:Canadian Space Agency
767:Wilks, Brian (2004).
737:Dotto, Lydia (1992).
564:Canadian Space Agency
458:
447:
383:
309:Controls and software
271:Space Shuttle program
256:
2833:Robotic manipulators
2644:Inertial Upper Stage
2520:Wake Shield Facility
2500:Freestar experiments
2026:Solid Rocket Booster
1848:Related institutions
692:European Robotic Arm
402:Johnson Space Center
323:CAE Electronics Ltd.
2593:Space Launch System
2365:Crawler-transporter
2206:Abort landing sites
1551:Jenni Sidey-Gibbons
1546:David Saint-Jacques
1527:Canadian astronauts
1006:on 31 December 2016
818:on 29 November 2004
364:developed the NASA
265:was invited by the
38:
2718:(2010 documentary)
2710:(2004 documentary)
2702:(1994 documentary)
2686:(1985 documentary)
2683:The Dream Is Alive
2678:(1982 documentary)
2380:NASA recovery ship
2370:Mate-Demate Device
1829:Magellan Aerospace
1819:MDA Space Missions
1738:Black Brant rocket
1371:MDA Space Missions
1340:Maxar Technologies
1262:. 13 November 2012
1207:The Globe and Mail
848:Make The Wind Blow
673:Spaceflight portal
472:
453:
426:degrees of freedom
393:
259:
2795:
2794:
2479:Launch Entry Suit
2307:
2299:
2289:
2234:
2174:Launch Complex 39
2139:
2131:
1950:
1949:
1922:Bell Satellite TV
1833:Bristol Aerospace
1625:
1624:
1597:Bjarni Tryggvason
1486:
1485:
1397:John S. MacDonald
1084:. NASASpaceflight
529:, delivering the
449:Peter J.K. Wisoff
217:) is a series of
196:
195:
2845:
2699:Destiny in Space
2305:
2297:
2287:
2243:Mission timeline
2228:
2137:
2129:
2000:List of missions
1977:
1970:
1963:
1954:
1531:
1513:
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1220:
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1183:
1177:
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1172:
1163:. Archived from
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1126:
1120:
1119:
1117:
1115:
1100:
1094:
1093:
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1063:
1058:. 11 August 2006
1048:
1042:
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1037:
1022:
1016:
1015:
1013:
1011:
1002:. Archived from
992:
986:
985:
983:
981:
972:. Archived from
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953:
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806:Garry Lindberg.
803:
792:
791:
789:
787:
764:
758:
757:
734:
675:
670:
669:
668:
638:In popular media
572:
566:(CSA). However,
491:
479:
465:
332:General Dynamics
110:
107:
105:
103:
101:
99:
97:
95:
46:
39:
2855:
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2637:studied designs
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2563:Shuttle-Centaur
2524:
2488:
2457:
2433:Getaway Special
2416:
2353:
2316:
2272:
2218:
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2115:
2060:
2009:
1986:
1981:
1951:
1946:
1910:
1874:
1843:
1798:
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1726:
1621:
1602:Dafydd Williams
1560:
1522:
1517:
1487:
1482:
1401:
1385:
1342:
1337:
1294:Wayback Machine
1280:
1275:
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1031:Spaceflight Now
1024:
1023:
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979:
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976:on 10 June 2020
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440:Service history
434:grapple fixture
378:
311:
302:
251:
159:Host spacecraft
151:Number launched
138:
92:
77:Instrument type
52:
32:
17:
12:
11:
5:
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2545:
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2538:Saturn-Shuttle
2534:
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2828:Space robots
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1697:Nimiq series
1572:Marc Garneau
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1364:GlobeXplorer
1354:DigitalGlobe
1347:Subsidiaries
1285:
1264:. Retrieved
1259:
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1238:. Retrieved
1234:
1224:
1212:. Retrieved
1205:
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1169:. Retrieved
1165:the original
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1138:. Retrieved
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1008:. Retrieved
1004:the original
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974:the original
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816:the original
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784:. Retrieved
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315:Dynacon Inc.
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300:End effector
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229:. After the
219:robotic arms
214:
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206:
205:(officially
202:
198:
197:
132:
126:
67:Manufacturer
33:
2838:1981 robots
2726:(2013 film)
2694:(1990 film)
2530:Derivatives
2493:Experiments
2462:Space suits
2448:Shuttle-Mir
2298:(simulator)
2285:Inspiration
2253:Abort modes
2036:Main engine
1942:Shaw Direct
1803:Contractors
1647:Anik series
1478:WorldView-4
1473:WorldView-3
1468:WorldView-2
1463:WorldView-1
1266:13 November
1010:20 February
878:22 November
786:22 November
589:Derivatives
404:located in
249:Development
184:Launch site
81:robotic arm
2802:Categories
2691:Challenger
2664:Retirement
2453:Hitchhiker
2329:Challenger
2295:Pathfinder
2217:Operations
2089:Challenger
2075:Enterprise
2014:Components
1777:Facilities
1758:FGS/NIRISS
1707:RADARSAT-2
1702:RADARSAT-1
1642:Alouette 2
1637:Alouette 1
1630:Satellites
1453:Radarsat-2
1448:Radarsat-1
1088:27 October
1062:27 January
1036:27 October
915:27 October
822:7 December
716:References
548:Discovery'
521:Retirement
483:Enterprise
372:accident.
370:Challenger
164:Spacecraft
143:Dimensions
115:Properties
2659:Criticism
2558:Shuttle-C
2321:Disasters
2248:Rollbacks
2110:Endeavour
2096:Discovery
1748:Canadarm2
1617:Ken Money
1443:QuickBird
1210:. Toronto
1135:Space.com
632:MDA Space
622:Canadarm3
616:Canadarm3
606:Canadarm2
600:Canadarm2
594:Canadarm2
568:Endeavour
556:Endeavour
532:Raffaello
511:Canadarm2
461:Discovery
261:In 1969,
203:Canadarm1
104:/canadarm
2607:Replicas
2344:disaster
2342:Columbia
2331:disaster
2288:(design)
2231:canceled
2226:Missions
2153:Spacehab
2135:Canadarm
2127:Spacelab
2103:Atlantis
2082:Columbia
2066:Orbiters
1743:Canadarm
1722:Sapphire
1717:SCISAT-1
1657:CASSIOPE
1423:GeoEye-1
1413:Canadarm
1406:Products
1290:Archived
1260:CBC News
1109:CTV News
1056:CBC News
659:See also
583:Atlantis
540:Atlantis
495:Columbia
397:weighing
366:software
327:Montreal
235:disaster
233:Columbia
227:payloads
199:Canadarm
174:Operator
106:/default
96:.asc-csa
57:Operator
2758:Shuttle
2625:Related
2588:Liberty
2553:Jupiter
2421:Special
2412:STS-3xx
2400:flights
2358:Support
2277:Testing
2120:Add-ons
2021:Orbiter
1839:Telesat
1810:COM DEV
1692:NEOSSat
1565:Retired
1240:29 June
1214:3 March
542:at the
527:STS-135
513:on the
468:STS-116
334:in the
319:Toronto
213:, also
188:Kennedy
88:Website
2715:Hubble
2543:Magnum
2348:report
2335:report
1768:OSIRIS
1763:MOPITT
1753:Dextre
1687:MSAT-1
1677:M3MSat
1672:ISIS 2
1667:ISIS 1
1662:Hermes
1534:Active
1458:Tomnod
1428:Ikonos
1418:Dextre
1390:People
1359:GeoEye
1171:1 July
980:19 May
854:
777:
747:
709:Strela
686:Dextre
645:doodle
579:Ottawa
389:STS-61
263:Canada
133:Total:
50:STS-72
27:, see
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2567:Ares
2304:MPTA
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2167:Sites
2138:(CSA)
2130:(ESA)
1915:Other
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1284:NASA:
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1896:ISRO
1891:NASA
1682:MOST
1268:2012
1242:2024
1216:2019
1173:2013
1142:2013
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1090:2012
1064:2024
1038:2012
1012:2007
982:2020
917:2012
880:2013
852:ISBN
824:2011
788:2013
775:ISBN
745:ISBN
536:MPLM
275:DSMA
211:SRMS
178:NASA
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120:Mass
108:.asp
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61:NASA
1886:ESA
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