Search NASA⌕ Search

SEARCH · Search NASA

Results for “Robotic Assembly”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 217 records · Page 12
All sourcesNASA NTRSDOE OSTI
NASA NTRS1982

Sled Control and Safety System

Computerized system for controlling motion of linear-track accelerator applied to other automated equipment, such as numerically-controlled machine tools and robot manipulators on assembly lines. System controls motions of sled with sine-wave signal created digitally by microprocessor. Dynamic parameters of sled motion are monitored so sled may be stopped safely if malfunction occurs. Sled is capable of sinusoidal accelerations up to 0.5 g with 125-kg load.

Forrest, L. J.↗
NASA NTRS1981

Overview - Flat-plate technology

Progress and continuing plans for the joint NASA/DoE program at the JPL to develop the technologies and industrial processes necessary for mass production of low-cost solar arrays (LSA) which produce electricity from solar cells at a cost of less than $0.70/W are reviewed. Attention is given to plans for a demonstration Si refinement plant capable of yielding 1000 MT/yr, and to a CVD process with chlorosilane, which will yield material at a cost of $21/kg. Ingot and shaped-sheet technologies, using either Czochralski growth and film fed growth methods have yielded AM1 15% efficient cells in an automated process. Encapsulation procedures have been lowered to $14/sq m, and robotics have permitted assembled cell production at a rate of 10 sec/cell. Standards are being defined for module safety features. It is noted that construction of a pilot Si purification plant is essential to achieving the 1986 $0.70/W cost goals.

Callaghan, W. T.↗
NASA NTRS1983

Task Board Tests Manipulator Performance

Task board constructed to facilitate time-and-motion studies for remote manipulators. Apparatus equipped with holes, objects of various shapes to be grasped and sensors with switches to indicate contact. Useful in industrial robots programmed to assemble parts.

Hill, J. W.↗
NASA NTRS1985

Artificial Gravity: Tethers and Containers

Tethers used in conjunction with containers offer a means of enhanced control of basic variables such as local acceleration, pointing and orientation, and protected or controlled environments against particle or electromagnetic radiation. Permanent occupancy of space will require the rapid exploration of the short and long term responses of many living organisms to the space environment or separated components of that environment. Tethers and ET facilities could provide the rapid establishment of laboratories in LEO within which to study living systems in a wide range of separate controlled environments for long periods of time, support large optical arrays; provide orbiting laboratories; and provide controlled environments within which the application of advanced manufacturing, assembly, control, and robotics could be developed to aid off-Earth industry and science and the conduct of more complex space operations.

Criswell, D. R.↗
NASA NTRS1985

A strategy planner for NASA robotics applications

Automatic strategy or task planning is an important element of robotics systems. A strategy planner under development at Goddard Space Flight Center automatically produces robot plans for assembly, disassembly, or repair of NASA spacecraft from computer aided design descriptions of the individual parts of the spacecraft.

Brodd, S. S.↗
NASA NTRS1988

Lightweight Video-Camera Head

Compact, lightweight video camera head constructed by remounting lens and charge-coupled-device image detector from small commercial video camera in separate assembly. Useful in robotics, artificial vision, and vision guidance systems. Designed to be mounted on visor of helmet to monitor motions of eyes in experiments on vestibulo-ocular reflexes.

Proctor, David R.↗
NASA NTRS1988

Report of the In Situ Resources Utilization Workshop

The results of a workshop of 50 representatives from the public and private sector which investigated the potential joint development of the key technologies and mechanisms that will enable the permanent habitation of space are presented. The workshop is an initial step to develop a joint public/private assessment of new technology requirements of future space options, to share knowledge on required technologies that may exist in the private sector, and to investigate potential joint technology development opportunities. The majority of the material was produced in 5 working groups: (1) Construction, Assembly, Automation and Robotics; (2) Prospecting, Mining, and Surface Transportation; (3) Biosystems and Life Support; (4) Materials Processing; and (5) Innovative Ventures. In addition to the results of the working groups, preliminary technology development recommendations to assist in near-term development priority decisions are presented. Finally, steps are outlined for potential new future activities and relationships among the public, private, and academic sectors.

Fairchild, Kyle↗
NASA NTRS1989

ROTEX-TRIIFEX: Proposal for a joint FRG-USA telerobotic flight experiment

The concepts and main elements of a RObot Technology EXperiment (ROTEX) proposed to fly with the next German spacelab mission, D2, are presented. It provides a 1 meter size, six axis robot inside a spacelab rack, equipped with a multisensory gripper (force-torque sensors, an array of range finders, and mini stereo cameras). The robot will perform assembly and servicing tasks in a generic way, and will grasp a floating object. The man machine and supervisory control concepts for teleoperation from the spacelab and from ground are discussed. The predictive estimation schemes for an extensive use of time-delay compensating 3D computer graphics are explained.

Hirzinger, G.↗
NASA NTRS1990

Evolution and advanced technology

The NASREM architecture with its standard interfaces permits development and evolution of the Flight Telerobotic Servicer to greater autonomy. Technologies in control strategies for an arm with seven DOF, including a safety system containing skin sensors for obstacle avoidance, are being developed. Planning and robotic execution software includes symbolic task planning, world model data bases, and path planning algorithms. Research over the last five years has led to the development of laser scanning and ranging systems, which use coherent semiconductor laser diodes for short range sensing. The possibility of using a robot to autonomously assemble space structures is being investigated. A control framework compatible with NASREM is being developed that allows direct global control of the manipulator. Researchers are developing systems that permit an operator to quickly reconfigure the telerobot to do new tasks safely.

Ollendorf, Stanford↗
NASA NTRS2001

Humanoids Designed to do Work

NASA began with the challenge of building a robot fo r doing assembly, maintenance, and diagnostic work in the Og environment of space. A robot with human form was then chosen as the best means of achieving that mission. The goal was not to build a machine to look like a human, but rather, to build a system that could do the same work. Robonaut could be inserted into the existing space environment, designed for a population of astronauts, and be able to perform many of the same tasks, with the same tools, and use the same interfaces. Rather than change that world to accommodate the robot, instead Robonaut accepts that it exists for humans, and must conform to it. While it would be easier to build a robot if all the interfaces could be changed, this is not the reality of space at present, where NASA has invested billions of dollars building spacecraft like the Space Shuttle and International Space Station. It is not possible to go back in time, and redesign those systems to accommodate full automation, but a robot can be built that adapts to them. This paper describes that design process, and the res ultant solution, that NASA has named Robonaut.

Ambrose, Robert↗
NASA NTRS2018

Overview of Additive Manufacturing Initiatives at NASA Marshall Space Flight Center

NASA's In Space Manufacturing Initiative (ISM) includes: The case for ISM - why; ISM path to exploration - results from the 3D Printing In Zero-G Technology Demonstration - ISM challenges; In space Robotic Manufacturing and Assembly (IRMA); Additive construction. Additively Manufacturing (AM) development for liquid rocket engine space flight hardware. MSFC standard and specification for additively manufactured space flight hardware. Summary.

Clinton, R. G., Jr.↗
NASA NTRS2018

NASA Additive Manufacturing Initiatives for Deep Space Human Exploration

Additive Manufacturing (AM) is being infused into aerospace industries at an accelerated pace. Reasons for this rapid adoption include: (1) Innovation Capability e.g. design features such as topology optimization, integrated fluid passages, and mesh structures; (2) Rapid Development and Optimization - ability to quickly iterate the design, development, and test cycle; (3) Affordability - reductions in part counts, cost, and schedule. NASA's Marshall Space Flight Center (MSFC) has taken a leadership role in application of AM technologies for deep space human exploration, leading the Agency's In Space Manufacturing (ISM) initiative and the application of AM for a broad variety of space propulsion systems. MSFC has championed the development of ISM capabilities since our first reduced-gravity aircraft experiment flew in 1999. Partnering with Made In Space, MSFC placed the first 3D Printer on ISS in 2014 and the second generation printer, the Additive Manufacturing Facility, in 2016. The next ISS technology demonstration will be the Refabricator, a recycler/basic printer scheduled to launch in late Fall 2018. Ground-based development is progressing in common use materials, metals 3D printing, printed electronics, and the new cornerstone of ISM, the FabLab. The latest developments in each area will be described. An overview of NASA's In Space Robotic Manufacturing and Assembly (IRMA) ground-based risk reduction projects will also be presented. MSFC has aggressively incorporated AM capabilities for design and development of space propulsion components. The capabilities have been rapidly matured and extensively exercised to produce and hot-fire test the Additive Manufacturing Demonstrator Engine, an in-space class prototype engine. This experience base has been extended to support Aerojet Rocketdyne in the application of AM to the RS-25, the Space Launch System Core Stage engine, and to small propulsion systems and thrusters for small satellites and cubesats. The latest developments will be described. In responding to a request from NASA's Commercial Crew Program for a consistent methodology for evaluation of AM processes and parts, MSFC began development of a draft standard for AM space flight hardware in late 2014. The draft was broadly disseminated for comments in mid-2015, and subsequently revised into two documents, a standard and a specification for AM space flight hardware, which were formally released by MSFC in October 2017. An overview of the key elements of these documents will be presented.

Clinton, Raymond↗
NASA NTRS2019

Additive Manufacturing for Human Space Exploration

NASA’s In Space Manufacturing Initiative (ISM): The Case for ISM - Why; ISM Path to Exploration; In Space Robotic Manufacturing and Assembly (IRMA). Additive Manufacturing (AM) Development For Liquid Rocket Engine Space Flight Hardware. MSFC (Marshall Space Flight Center) Standard and Specification For Additively Manufactured Space Flight Hardware.

Additive Manufacturing Exploration↗
NASA NTRS2021

Grappling Spacecraft

This article provides a survey overview of the techniques, mechanisms, algorithms, and test and validation strategies required for the design of roboticgrappling vehicles intended to approach and grapple free-flying client satellites. We concentrate on using a robotic arm to grapple a free-floating spacecraft, as distinct from spacecraft docking and berthing, where two spacecraft directly mate with each other. Robotic grappling of client spacecraft is a deceptively complex problem: It entails designing a robotic system that functions robustly in the visually stark, thermally extreme orbital environment,operating near massive and extremely expensive yet fragile client hardware,using relatively slow flight computers with limited and laggy communica-tions. Spaceflight robotic systems are challenging to test and validate priorto deployment and extremely expensive to launch, which significantly limitsopportunities to experiment with new techniques. These factors make thedesign and operation of orbital robotic systems significantly different fromthose of their terrestrial counterparts, and as a result, only a relative handfulof systems have been demonstrated on orbit. Nevertheless, there is increas-ing interest in on-orbit robotic servicing and assembly missions, and grap-pling is the core requirement for these systems. Although existing systemssuch as the Space Station Remote Manipulator System have demonstratedextremely reliable operation, upcoming missions will attempt to expand thetypes of spacecraft that can be safely and dependably grappled and berthed.

Carl Glen Henshaw↗
NASA NTRS2021

GPX2

GPX2is a technology demonstration mission that will provide a novel test-bed for Commercial-Off-the-Shelf (COTS) differential global positioning systems (dGPS) to enable future on-orbit assembly, docking, and formation-flying small satellite missions. While on-orbit,GPX2will assess the capability of multi-frequency COTS dGPS receivers.GPX2 is passively stabilized using a 2-meter gravity gradient boom, providing a local orbit horizon view to the GPX2 antennae and Iridium communication. By demonstrating dGPS on-orbit, GPX2 paves the way for on-orbit assembly and autonomous robotic operations using high-accuracy dGPS to measure relative proximity and orientation.

CubeSat↗
NASA NTRS1991

Robotic tool change mechanism

An assembly of three major components is disclosed which included a wrist interface plate which is secured to the wrist joint of a robotic arm, a tool interface plate which is secured to each tool intended for use by the robotic arm, and a tool holster for each tool attached to the interface plate. The wrist interface plate and a selected tool interface plate are mutually connectable together through an opening or recess in the upper face of the interface plate by means of a notched tongue protruding from the front face of the wrist interface plate which engages a pair of spring-biased rotatable notched wheels located within the body of the tool interface plate. The tool holster captures and locks onto the tool interface plate by means of a pair of actuation claws including a locking tab and an unlocking wedge which operate respective actuation bosses on each of the notched wheels in response to a forward and backward motion of the tool interface plate as a result of motion of the robotic arm to either park the tool or use the tool.

Voellmer, George M.↗
NASA NTRSDate not supplied

Implementation of Field-Oriented Control in Joint Actuator Electronics for Satellite-Servicing Robotics

NASA’s OSAM-1 (On-orbit Servicing, Assembly, and Manufacturing 1) is a robotic spacecraft designed to extend the life of a satellite. Launching in 2026, the OSAM-1 servicer will use a robotic arm to grasp, refuel, and relocate Landsat 7. In order to accomplish the various servicing operations, including the critical auto-grapple capturing operation, the robot arm uses active compliance and visual servo control loops. These sophisticated control algorithms are enabled by the high performance Joint Control Boards (JCBs). At the core of the robot arm control architecture, the JCBs employ field-oriented control (FOC) to accurately commutate and efficiently control joint actuator torque. FOC offers numerous benefits over other current control methods, allowing the JCBs to achieve the high bandwidth and performance required by the outer control loops. As an added benefit, a torque feed-forward term allows the FOC loop to simulate microgravity actuator performance during ground testing. In this paper, a FOC implementation for space robotics applications and an end-to-end actuator calibration process are discussed.

Sam Zhao↗
NASA NTRS1989

Assembly of objects with not fully predefined shapes

An assembly problem in a non-deterministic environment, i.e., where parts to be assembled have unknown shape, size and location, is described. The only knowledge used by the robot to perform the assembly operation is given by a connectivity rule and geometrical constraints concerning parts. Once a set of geometrical features of parts has been extracted by a vision system, applying such a rule allows the dtermination of the composition sequence. A suitable sensory apparatus allows the control the whole operation.

Arlotti, M. A.↗