| 21. | One of the wrist joints in the robot arm seized up in March and is being replaced.
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| 22. | A third and final spacewalk is scheduled for Thursday, to replace a wrist joint in the robot arm.
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| 23. | One of the wrist joints in the robot arm seized up in March; the brakes would not release.
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| 24. | However, in early March the arm experienced what experts believe was an electrical short in its wrist joint assembly.
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| 25. | Software intended for such calculation use the wrist joint also, dividing the lower arm into hand and forearm segments.
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| 26. | The upper boom connects the shoulder and elbow joints, and the lower boom connects the elbow and wrist joints.
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| 27. | The most sophisticated arms have vise-like claws and shoulder, elbow and wrist joints that allow a full range of motion.
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| 28. | It needs a new wrist joint and a base on which to move around the space station via rail car.
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| 29. | But shuttle managers were reluctant to proceed with additions to the solar power system without replacing the primary wrist joint assembly.
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| 30. | This ball joint permits the cylinders to float freely inside the frame, such as when the wrist joint rotates and flexes.
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