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Preliminary test results and upgrades for an automated assembly systemAn automated structures assembly testbed developed by Langley Research Center to study the practical problems associated with the automated assembly of large space structures using robotic manipulators is described. Emphasis is placed on the requirements and features of system upgrades and their impact on system performance, flexibility, and reliability. The current research program is aimed at evolving the baseline assembly system into a flexible, robust, sensor-based system capable of assembling more complex truss-supported satellite systems. To achieve this objective, five system upgrades have been developed including a machine vision capability to eliminate taught robot arm positions; an on-board end-effector microprocessor to reduce communications; a second-generation end-effector to construct contoured trusses for antennas and install payloads; the installation of reflector-type panels on the truss to produce a complete and functional system, and an expert system to significantly reduce the amount of software code required for system operation and provide greater flexibility in implementing new features.
Document ID
19930043039
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Will, Ralph W.
(NASA Langley Research Center Hampton, VA, United States)
Rhodes, Marvin D.
(NASA Langley Research Center Hampton, VA, United States)
Quach, Cuong
(NASA Langley Research Center Hampton, VA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: Cooperative intelligent robotics in space II; Proceedings of the Meeting, Boston, MA, Nov. 12-14, 1991 (A93-27001 09-54)
Publisher: Society of Photo-Optical Instrumentation Engineers
Subject Category
Ground Support Systems And Facilities (Space)
Accession Number
93A27036
Distribution Limits
Public
Copyright
Other

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