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Development and verification testing of automation and robotics for assembly of space structuresA program was initiated within the past several years to develop operational procedures for automated assembly of truss structures suitable for large-aperture antennas. The assembly operations require the use of a robotic manipulator and are based on the principle of supervised autonomy to minimize crew resources. A hardware testbed was established to support development and evaluation testing. A brute-force automation approach was used to develop the baseline assembly hardware and software techniques. As the system matured and an operation was proven, upgrades were incorprated and assessed against the baseline test results. This paper summarizes the developmental phases of the program, the results of several assembly tests, the current status, and a series of proposed developments for additional hardware and software control capability. No problems that would preclude automated in-space assembly of truss structures have been encountered. The current system was developed at a breadboard level and continued development at an enhanced level is warranted.
Document ID
19940034060
Document Type
Conference Paper
Authors
Rhodes, Marvin D. (NASA Langley Research Center Hampton, VA, United States)
Will, Ralph W. (NASA Langley Research Center Hampton, VA, United States)
Quach, Cuong C. (Lockheed Engineering & Sciences Co., Langley Programs Office, Hampton VA, United States)
Date Acquired
August 16, 2013
Publication Date
September 1, 1993
Subject Category
MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
Report/Patent Number
AIAA PAPER 93-4076
Distribution Limits
Public
Copyright
Other