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Proceedings Paper

Preliminary test results and upgrades for an automated assembly system
Author(s): Ralph W. Will; Marvin D. Rhodes; Cuong Quach
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Paper Abstract

An 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.

Paper Details

Date Published: 1 March 1992
PDF: 19 pages
Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); doi: 10.1117/12.56774
Show Author Affiliations
Ralph W. Will, NASA/Langley Research Ctr. (United States)
Marvin D. Rhodes, NASA/Langley Research Ctr. (United States)
Cuong Quach, NASA/Langley Research Ctr. (United States)

Published in SPIE Proceedings Vol. 1612:
Cooperative Intelligent Robotics in Space II
William E. Stoney, Editor(s)

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