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Precise Truss Assembly using Commodity Parts and Low Precision Welding
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Author and Affiliation:
Komendera, Erik(Colorado Univ., Dept. of Computer Science, Boulder, CO, United States);
Reishus, Dustin(Colorado Univ., Dept. of Computer Science, Boulder, CO, United States);
Dorsey, John T.(NASA Langley Research Center, Hampton, VA, United States);
Doggett, William R.(NASA Langley Research Center, Hampton, VA, United States);
Correll, Nikolaus(Colorado Univ., Dept. of Computer Science, Boulder, CO, United States)
Abstract: We describe an Intelligent Precision Jigging Robot (IPJR), which allows high precision assembly of commodity parts with low-precision bonding. We present preliminary experiments in 2D that are motivated by the problem of assembling a space telescope optical bench on orbit using inexpensive, stock hardware and low-precision welding. An IPJR is a robot that acts as the precise "jigging", holding parts of a local assembly site in place while an external low precision assembly agent cuts and welds members. The prototype presented in this paper allows an assembly agent (in this case, a human using only low precision tools), to assemble a 2D truss made of wooden dowels to a precision on the order of millimeters over a span on the order of meters. We report the challenges of designing the IPJR hardware and software, analyze the error in assembly, document the test results over several experiments including a large-scale ring structure, and describe future work to implement the IPJR in 3D and with micron precision.
Publication Date: Apr 22, 2013
Document ID:
20130013470
(Acquired May 20, 2013)
Subject Category: CYBERNETICS, ARTIFICIAL INTELLIGENCE AND ROBOTICS
Report/Patent Number: NF1676L-16252
Document Type: Conference Paper
Meeting Information: 5th IEEE International Conference on Technologies for Practical Robot Applications; 22-23 Apr. 2013; Boston, MA; United States
Meeting Sponsor: Institute of Electrical and Electronics Engineers; New York, NY, United States
Contract/Grant/Task Num: WBS 647280.04.02.04
Financial Sponsor: NASA Langley Research Center; Hampton, VA, United States
Organization Source: NASA Langley Research Center; Hampton, VA, United States
Description: 6p; In English; Original contains color illustrations
Distribution Limits: Unclassified; Publicly available; Unlimited
Rights: Copyright; Distribution as joint owner in the copyright
NASA Terms: ROBOTS; TRUSSES; JIGS; SPACE MANUFACTURING; ROBOT CONTROL; BONDING; PROTOTYPES; ORBITAL ASSEMBLY
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