Introduction CANADARM 1 Wrist Ya Joint Wrist CCTV Light Wrist Pitch Joint Elbow CCTV Lower Arm Boom End Effector Pan/Tilt (Opt ions) MPM-Upper Arm Upper Arm Boom Wrist Roll MRL .Wrist Joint MRL -Lower Arm Elbow Pitch Joint Shoulder Brace Major Specification Shoulder Pitch Joint DOF: 6 shoulde Orbiter Yaw Joint Length: 15.2 Weight: 410 Kg Max Payload 266,000 KsIntroduction CANADARM 1 Major Specification: DOF: 6 Length: 15.2 m Weight: 410 Kg Max Payload: 266,000 Kg