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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.

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At least 91 records · Page 5
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Formulation of design guidelines for automated robotic assembly in outerspace

The approach for arriving at design guidelines for assembly by robots in outerspace is illustrated. The use of robots in a zero gravity environment necessitates that extra factors over and above normal design guidelines be taken into account. Besides, many of the guidelines for assembly by robots on earth do not apply in space. However, considering the axioms for normal design and assembly as one set, guidelines for design and robotic assembly as another, and guidelines for design and assembly in space as the third set, unions and intersections of these sets can generate guidelines for two or more of these conditions taken together - say design and manual assembly in space. Therein lies the potential to develop expert systems in the future, which would use an exhaustive database and similar guidelines to arrive at those required by a superposition of these conditions.

Dwivedi, Suren N.↗
NASA NTRS1991

Panel installation development in Automated Structures Assembly Lab

The design requirements for panel installation process are listed and photographs are presented of the following: panel latches to truss via adaptors; panel end effector; arm retrieving panel from canister; arm installing panel; and facility view with panel installed.

Cuong Quach↗
NASA NTRS2008

Automating System Assembly of Aerospace Systems

One of the major challenges in modern aerospace designs is the integration and assembly of independently developed components. We have formalized this as the system assembly problem: from a sea of available components, which should be selected and how should they be connected, integrated, and assembled so that the overall system requirements are satisfied in a certifiable way? We present a powerful framework for automatically solving the system assembly problem directly from system requirements by using formal verification technology. We also present a case study where we applied our work to large-scale industrial examples from the Boeing Dreamliner.

Manolios, Panagiotis↗
NASA NTRS1979

Automatic in-orbit assembly of large space structures

The automated assembly of a large number of components required for the on-orbit erection of large tetrahedral space platforms is described. The assembly machine is a huge jig in which a multitude of mechanisms must operated continuously in the thermo vacuum environment of space and under the control of computers programmed to command every step of each motion. The concepts are presented to determine the most reliable solution. Continuous operation of mechanisms in space presents many unresolved problems, with regard to lubrication of unprotected devices, such as chain drives, which must maintain reasonable positioning tolerances.

Jacquemin, G. G.↗
NASA NTRS1991

Executive system software design and expert system implementation

The topics are presented in viewgraph form and include: software requirements; design layout of the automated assembly system; menu display for automated composite command; expert system features; complete robot arm state diagram and logic; and expert system benefits.

Cheryl L Allen↗
NASA NTRS2006

Experimental Demonstration of Technologies for Autonomous On-Orbit Robotic Assembly

The Modular Reconfigurable High Energy (MRHE) program aimed to develop technologies for the automated assembly and deployment of large-scale space structures and aggregate spacecraft. Part of the project involved creation of a terrestrial robotic testbed for validation and demonstration of these technologies and for the support of future development activities. This testbed was completed in 2005, and was thereafter used to demonstrate automated rendezvous, docking, and self-assembly tasks between a group of three modular robotic spacecraft emulators. This paper discusses the rationale for the MRHE project, describes the testbed capabilities, and presents the MRHE assembly demonstration sequence.

LeMaster, Edward A.↗
NASA NTRS1981

Interlocking wedge joint is easily assembled

Wedge joint links structural members in manual, remote, or automated assemblies. Joint is simple enough to be assembled by undersea divers, workers in nuclear reactors, and other wearing gloves or bulky clothing. Combination of wedging angles on parts overcomes structural misalinements and forces assembly into true position as locking sleeve moves into place. Joint transmits tension, compression, bending moments and torsion and is inherently insensitive to thermal excursions, vibration, and machining tolerance buildup.

Long, M. J.↗
NASA NTRS1987

Simplified Explosive Joining of Tubes to Fittings

Technique simplifies tube-to-fitting joining, as compared to fusion welding, and provides improvement on standard procedures used to join tubes explosively to tube fittings. Special tool inserted into tube to be joined. Tool allows strip of ribbon explosive to be placed right at joint. Ribbon explosive and mild detonating fuse allows use of smaller charge. Assembled tool storable, and process amenable to automation. Assembly of components, insertion of tool into weld site, and joining operation mechanized without human contact. Used to assemble components in nuclear reactors or in other environments hostile to humans.

Bement, L. J.↗
NASA NTRS1981

Automated solar panel assembly line

The initial stage of the automated solar panel assembly line program was devoted to concept development and proof of approach through simple experimental verification. In this phase, laboratory bench models were built to demonstrate and verify concepts. Following this phase was machine design and integration of the various machine elements. The third phase was machine assembly and debugging. In this phase, the various elements were operated as a unit and modifications were made as required. The final stage of development was the demonstration of the equipment in a pilot production operation.

Somberg, H.↗
NASA NTRS1980

Recent advances in structural technology for large deployable and erectable spacecraft

Ultra-low mass deployable and erectable truss structure designs for spacecraft are identified using computerized structural sizing techniques. Extremely slender strut proportions are shown to characterize minimum mass spacecraft which are designed for Shuttle transport to orbit. Analytical results are presented which demonstrate discrete element effects using a recently developed buckling theory for periodic lattice type structures. An analysis of fabrication imperfection effects on the surface accuracy of four different antenna reflector structures is summarized. This study shows the tetrahedral truss to have the greatest potential of the structures examined for application to accurate or large reflectors. A deployable module which can be efficiently transported is identified and shown to have significant potential for application to future antenna requirements. Recent investigations of erectable structure assembly are reviewed. Initial experiments simulating astronaut assembly by extra-vehicular activity (EVA) show that a pair of astronauts can achieve assembly times of 2-5 min/strut. Studies indicate that an automated assembler can achieve times of less than 1 min/strut on an around-the-clock basis.

Bush, H. G.↗
NASA NTRS1980

Deployable and erectable concepts for large spacecraft

Computerized structural sizing techniques were used to determine structural proportions of minimum mass tetrahedral truss platforms designed for low Earth and geosynchronous orbit. Optimum (minimum mass) deployable and erectable, hexagonal shaped spacecraft are sized to satisfy multiple design requirements and constraints. Strut dimensions characterizing minimum mass designs are found to be significantly more slender than those conventionally used for structural applications. Comparison studies show that mass characteristics of deployable and erectable platforms are approximately equal and that the shuttle flights required by deployable trusses become excessive above certain critical stiffness values. Recent investigations of eractable strut assembly are reviewed. Initial erectable structure assembly experiments show that a pair of astronauts can achieve EVA assembly times of 2-5 min/strut and studies indicate that an automated assembler can achieve times of less than 1 min/strut for around the clock operation.

Bush, H. G.↗
NASA NTRS2018

Discrete Assemblers Utilizing Conventional Motion Systems

An alternative to additive manufacturing is disclosed, introducing an end-to-end workflow in which discrete building blocks are reversibly joined to produce assemblies called digital materials. Described is the design of the bulk-material building blocks and the devices that are assembled from them. Detailed is the design and implementation of an automated assembler, which takes advantage of the digital material structure to avoid positioning errors within a large tolerance. To generate assembly sequences, a novel CAD/CAM workflow is described for designing, simulating, and assembling digital materials. The structures assembled using this process have been evaluated, showing that the joints perform well under varying conditions and that the assembled structures are functionally precise.

Langford, William Kai↗
NASA NTRS1979

Traffic model for commercial payloads in the Materials Experiment Assembly (MEA)

One hundred individuals representing universities, technical institutes, government agencies, and industrial facilities were surveyed to determine potential commercial use of a self-contained, automated assembly for the space processing of materials during frequent shuttle flights for the 1981 to 1987 period. The approach used and the results of the study are summarized. A time time-phased projection (traffic model) of commercial usage of the materials experiment assembly is provided.

Tietzel, F. A.↗
NASA NTRS1980

Structural concepts for large spacecraft

Design concepts for deployable spacecraft structures are examined with particular emphasis on mass/area optimization, stowability, and assembly, and the relations of these requirements to functional design parameters. Component and modular concepts for platforms and reflectors, structural configurations for long columns, pretension columns, and joint concepts are discussed. A brief overview of astronaut and automated assembly studies is included.

Bush, H. G.↗
NASA NTRS1997

Habitats and Surface Construction Technology and Development Roadmap

The vision of the technology and development teams at NASA Ames and Johnson Research Centers is to provide the capability for automated delivery and emplacement of habitats and surface facilities. The benefits of the program are as follows: Composites and Inflatables: 30-50% (goal) lighter than Al Hard Structures; Capability for Increased Habitable Volume, Launch Efficiency; Long Term Growth Potential; and Supports initiation of commercial and industrial expansion. Key Habitats and Surface Construction (H&SC) technology issues are: Habitat Shell Structural Materials; Seals and Mechanisms; Construction and Assembly: Automated Pro-Deploy Construction Systems; ISRU Soil/Construction Equipment: Lightweight and Lower Power Needs; Radiation Protection (Health and Human Performance Tech.); Life Support System (Regenerative Life Support System Tech.); Human Physiology of Long Duration Space Flight (Health and Human Performance Tech.); and Human Psychology of Long Duration Space Flight (Health and Human Performance Tech.) What is being done regarding these issues?: Use of composite materials for X-38 CRV, RLV, etc.; TransHAB inflatable habitat design/development; Japanese corporations working on ISRU-derived construction processes. What needs to be done for the 2004 Go Decision?: Characterize Mars Environmental Conditions: Civil Engineering, Material Durability, etc.; Determine Credibility of Inflatable Structures for Human Habitation; and Determine Seal Technology for Mechanisms and Hatches, Life Cycle, and Durability. An overview encompassing all of the issues above is presented.

Marc Cohen↗
NASA NTRS1994

Baseline tests of an autonomous telerobotic system for assembly of space truss structures

Several proposed space missions include precision reflectors that are larger in diameter than any current or proposed launch vehicle. Most of these reflectors will require a truss structure to accurately position the reflector panels and these reflectors will likely require assembly in orbit. A research program has been conducted at the NASA Langley Research Center to develop the technology required for the robotic assembly of truss structures. The focus of this research has been on hardware concepts, computer software control systems, and operator interfaces necessary to perform supervised autonomous assembly. A special facility was developed and four assembly and disassembly tests of a 102-strut tetrahedral truss have been conducted. The test procedures were developed around traditional 'pick-and-place' robotic techniques that rely on positioning repeatability for successful operation. The data from two of the four tests were evaluated and are presented in this report. All operations in the tests were controlled by predefined sequences stored in a command file, and the operator intervened only when the system paused because of the failure of an actuator command. The tests were successful in identifying potential pitfalls in a telerobotic system, many of which would not have been readily anticipated or incurred through simulation studies. Addressing the total integrated task, instead of bench testing the component parts, forced all aspects of the task to be evaluated. Although the test results indicate that additional developments should be pursued, no problems were encountered that would preclude automated assembly in space as a viable construction method.

Rhodes, Marvin D.↗