Usage
A simulated Canadarm installed on the Space Shuttle Enterprise was seen when the prototype orbiter's payload bay doors were open to test hangar facilities early in the shuttle program. The Canadarm was first used on STS-2 in 1981, on board Columbia, and has subsequently been used on over 50 shuttle missions. Arms have been installed on the four other shuttles - it was first flown on board Challenger during STS-7 in 1983, and then in 1984 on Discovery during STS-41-D, which was Discovery's first flight. It was used on Atlantis first during STS-61-B. Canadarm 302 was lost during the Challenger disaster in 1986. A Canadarm was next used on Endeavour during STS-49, that vessel's first flight.
Since the installation of the Canadarm2 on the International Space Station, the two arms have been used to hand over segments of the station for assembly from the Canadarm to the Canadarm2; the use of both elements in tandem has earned the nickname of 'Canadian Handshake' in the media.
Read more about this topic: SRMS
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