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Record 13 of 12611
Precise Truss Assembly Using Commodity Parts and Low Precision Welding
External Online Source: doi:10.1007/s11370-013-0144-4
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, W. R.(NASA Langley Research Center, Hampton, VA, United States)
Correll, Nikolaus(Colorado Univ., Dept. of Computer Science, Boulder, CO, United States)
Abstract: Hardware and software design and system integration for an intelligent precision jigging robot (IPJR), which allows high precision assembly using commodity parts and low-precision bonding, is described. Preliminary 2D experiments that are motivated by the problem of assembling space telescope optical benches and very large manipulators on orbit using inexpensive, stock hardware and low-precision welding are also described. An IPJR is a robot that acts as the precise "jigging", holding parts of a local structure 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 (for this prototype, 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. The analysis of the assembly error and the results of building a square structure and a ring structure are discussed. Options for future work, to extend the IPJR paradigm to building in 3D structures at micron precision are also summarized.
Publication Date: Apr 01, 2014
Document ID:
20140006237
(Acquired Jun 17, 2014)
Subject Category: CYBERNETICS, ARTIFICIAL INTELLIGENCE AND ROBOTICS
Report/Patent Number: NF1676L-18019
Document Type: Journal Article
Publication Information: Intelligent Service Robotics Special Issue: Technologies for Practical Robot Applications; p. 93-102; 7; 2
Contract/Grant/Task Num: WBS 920121.01.07.01
Financial Sponsor: NASA Langley Research Center; Hampton, VA, United States
Description: 10p; In English; Original contains color and black and white illustrations
Distribution Limits: Unclassified; Publicly available; Unlimited
Rights: Copyright
NASA Terms: ROBOTS; PROTOTYPES; ORBITAL ASSEMBLY; JIGS; ROBOT CONTROL; TRUSSES; WELDING; ROBOT ARMS; TECHNOLOGY UTILIZATION; LOW COST; BONDING; SPACE MANUFACTURING
Availability Source: Other Sources
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Last Modified: June 17, 2014
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