Lyappa arm

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]

You can help expand this article with text translated from the corresponding article in Russian. (July 2021) Click [show] for important translation instructions.

View a machine-translated version of the Russian article.
Machine translation, like DeepL or Google Translate, is a useful starting point for translations, but translators must revise errors as necessary and confirm that the translation is accurate, rather than simply copy-pasting machine-translated text into the English Wikipedia.
Do not translate text that appears unreliable or low-quality. If possible, verify the text with references provided in the foreign-language article.
You must provide copyright attribution in the edit summary accompanying your translation by providing an interlanguage link to the source of your translation. A model attribution edit summary is Content in this edit is translated from the existing Russian Wikipedia article at [[:ru:Автоматическая система перестыковки (станция «Мир»)]]; see its history for attribution.
You may also add the template {{Translated|ru|Автоматическая система перестыковки (станция «Мир»)}} to the talk page.
For more guidance, see Wikipedia:Translation.

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, if needed.

Both the Wentian and Mengtian modules of the Tiangong space station 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, allowed 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. Where as the Indexing robot arm is needed for docking in the same plane. In addition to this arm used for docking relocation, the Chinarm on Tianhe module could also be used as a backup.^[5]^[6]

Naming

Gallery

References

Further reading

Wikiwand - on