Canadarm, Canadarm2, and Canadarm3 – A Comparative Table

Canadarm, Canadarm2 and Canadarm3. (Credit: Canadian Space Agency/NASA)

Canadian Space Agency Fact Sheet

Canadarm
The first Canadian robotic arm to go to space
Canadarm2
Servicing the International Space Station since 2001
Canadarm3Footnote1
An artificial intelligence-based robotic system designed for the Lunar Gateway
LocationInstalled on each Space Shuttle and returned to Earth. Now retired, the Canadarm is on display at the Canada Aviation and Space Museum in Ottawa, Ontario.Stays permanently in space on board the International Space Station.Will stay permanently in space on board the Lunar Gateway.
Range of motionReach limited to length of arm.Moves end-over-end to reach many parts of the International Space Station, where its anchoring “hand” plugs into a power, data, and video outlet. Because it is mounted on the Mobile Base, the arm can travel the entire length of the Space Station.Will move end-over-end to reach many parts of the Lunar Gateway, where its anchoring “hand” will plug into a power, data, and video outlet. The arm will be able to travel and bring tools to the entire length of the Lunar Gateway.
Fixed jointFixed to the shuttle by one end.No fixed end.No fixed end.
Degrees of freedomSix degrees of freedom. Similar to a human arm: Two joints in the shoulder One joint in the elbow Three joints in the wristSeven degrees of freedom. Very similar to a human arm: Three joints in the shoulderOne joint in the elbow Three joints in the wristSeven degrees of freedom. Very similar to a human arm: Three joints in the shoulder One joint in the elbow Three joints in the wrist
Joint rotationElbow rotation limited to 160 degrees.Each of Canadarm2’s joints rotate 270 degrees in each direction, a total of 540 degrees. This range of motion is greater than that of a human arm.Each joint will be able to rotate almost 360 degrees.
SensesNo sense of touch.Force-moment sensors provide a sense of “touch”. Automatic collision avoidance.Force-moment sensors provide a sense of “touch”. Automatic collision avoidance. 3D Vision Sensor Tool that maps objects around it.
Length15 m17 m8.5 m
Mass410 kg1,497 kg715 kg (estimation)
Diameter33 cm (exterior diameter of composite boom)35 cm (exterior diameter of composite boom)23 cm (exterior diameter of composite boom)
Speed of operationUnloaded: 60 cm/s Loaded: 6 cm/sUnloaded: 37 cm/s Loaded: 2 cm/s (during ground control) 15 cm/s (support during spacewalks)Unloaded: 10 cm/s Loaded: to be determined
Composition16 layers of high-modulus carbon fibre epoxy19 layers of high-strength carbon fibre thermoplasticCarbon fibre composite.
RepairsRepaired on Earth.Designed to be repaired in space. Composed of removable sections that can be individually replaced in space.Designed to self-detach sections that can be repaired inside the Lunar Gateway.
ControlControlled by astronauts on the Space Shuttle.Controlled from the ground or by astronauts on the International Space Station.Primarily controlled autonomously. Can also be controlled from the ground or by astronauts on the Lunar Gateway.
CamerasTwo cameras: One on the elbowOne on the wristFour colour cameras:One on each side of the elbow The other two on the “hands”Six colour 4K cameras: One 360-degree camera on each side of the elbow One on each boom on swivel mounts The other two on the “hands”
OperatorUnited StatesCanada and United StatesCanada

About Canadarm3

Canadian Space Agency Fact Sheet

An artist’s concept of Canadarm3’s large arm on the Lunar Gateway. (Credits: Canadian Space Agency, NASA)

Canadarm3 will be Canada’s contribution to the US-led Gateway, a lunar outpost that will enable sustainable human exploration of the Moon. This highly autonomous robotic system will use cutting-edge software to perform tasks around the Moon without human intervention.

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Canada Looks to MDA to Build Gateway Canadarm3 for Artemis Deep Space Missions

An artist’s concept of Canadarm3’s large arm on the Lunar Gateway. (Credits: Canadian Space Agency, NASA)

LONGUEUIL, Quebec (CSA PR) — Canada is taking another important step forward in its participation in the next chapter of Moon exploration. Today, the Honourable Navdeep Bains, Minister of Innovation, Science and Industry, announced Canada intends to enter into a contract with Brampton-based company MacDonald Dettwiler and Associates Inc. (MDA) to build Canadarm3.

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