Preliminary test results and upgrades for an automated assembly system

Ralph W. Will; Marvin D. Rhodes; Cuong Quach

doi:10.1117/12.56774

1 March 1992 Preliminary test results and upgrades for an automated assembly system

Ralph W. Will, Marvin D. Rhodes, Cuong Quach

Proceedings Volume 1612, Cooperative Intelligent Robotics in Space II; (1992) https://doi.org/10.1117/12.56774
Event: Robotics '91, 1991, Boston, MA, United States

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.

Citation Download Citation

Ralph W. Will, Marvin D. Rhodes, and Cuong Quach "Preliminary test results and upgrades for an automated assembly system", Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); https://doi.org/10.1117/12.56774

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available