a force-torque sensor and better end effectors that have been slow in implementation are nearing flight test. Concepts for dexterous manipulation capability were created in the Telerobotic Work System studies. These devices were a conceptual extension of the cherry picker concepts of the SPS studies and resulted in designs as shown in Fig. 5. Space Station Freedom Assembly on Orbit An SPS equipment concept that has not yet found a mission is the beam builder. Preliminary designs and ground test articles were produced for the beam builder, but development has ceased because no large system application was found. A primary advantage of compact packaging of material for launch was not offset by the investment in a complex tool for fabrication. As large as the SSF is, it cannot efficiently use the long continuous members produced by the beam builder. Instead, an EVA-intensive approach of assembling struts and nodes has been the principal approach to assembly of SSF structure. An assesssment of EVA time requirements was necessary when total system assembly needs were considered. Configuration changes were made followed by more changes when the constraints imposed by the launch vehicle were examined in finer detail [4], Consideration of assembly must be as great a configuration driver as mission requirements. Design for assembly of a large spacecraft does not have exactly the same parameters as designing an automobile for automated assembly, but many common principles exist [6]. The correspondence of the design with the tools available for assembly and the specifications for new tooling define a constraint on the assembly sequence in both instances. Other factors of minimum number of separate parts, easy alignment and efficient attachment also apply. A piece of equipment that has not been effectively integrated into the SSF assembly process is the Flight Telerobotic Servicer (Fig. 6). It represents a dexterous remote manipulation capability that should be able to perform many tasks in the
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