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 127 records · Page 7

Future Visions for Scientific Human Exploration

Today, humans explore deep-space locations such as Mars, asteroids, and beyond, vicariously here on Earth, with noteworthy success. However, to achieve the revolutionary breakthroughs that have punctuated the history of science since the dawn of the Space Age has always required humans as "the discoverers," as Daniel Boorstin contends in this book of the same name. During Apollo 17, human explorers on the lunar surface discovered the "genesis rock," orange glass, and humans in space revamped the optically crippled Hubble Space Telescope to enable some of the greatest astronomical discoveries of all time. Science-driven human exploration is about developing the opportunities for such events, perhaps associated with challenging problems such as whether we can identify life beyond Earth within the universe. At issue, however, is how to safely insert humans and the spaceflight systems required to allow humans to operate as they do best in the hostile environment of deep space. The first issue is minimizing the problems associated with human adaptation to the most challenging aspects of deep space space radiation and microgravity (or non-Earth gravity). One solution path is to develop technologies that allow for minimization of the exposure time of people to deep space, as was accomplished in Apollo. For a mission to the planet Mars, this might entail new technological solutions for in-space propulsion that would make possible time-minimized transfers to and from Mars. The problem of rapid, reliable in-space transportation is challenged by the celestial mechanics of moving in space and the so-called "rocket equation." To travel to Mars from Earth in less than the time fuel-minimizing trajectories allow (i.e., Hohmann transfers) requires an exponential increase in the amount of fuel. Thus, month-long transits would require a mass of fuel as large as the dry mass of the ISS, assuming the existence of continuous acceleration engines. This raises the largest technological stumbling block to moving humans on site as deep-space explorers, delivering the masses required for human spaceflight systems to LEO or other Earth orbital vantage points using the existing or projected fleet of Earth-to-orbit (ETO) launch vehicles. Without a return to Saturn V-class boosters or an alternate path, one cannot imagine emplacing the masses that would be required for any deep-space voyage without a prohibitive number of Shuttle-class launches. One futurist solution might involve mass launch systems that could be used to move the consumables, including fuel, water, food, and building materials, to LEO in pieces rather than launching integrated systems. This approach would necessitate the development of robotic assembly and fuel-storage systems in Earth orbit, but could provide for a natural separation of low-value cargo (e.g., fuel, water).

Garvin, James↗

Modular High-Energy Systems for Solar Power Satellites

Modular High-Energy Systems are Stepping Stones to provide capabilities for energy-rich infrastructure located in space to support a variety of exploration scenarios as well as provide a supplemental source of energy during peak demands to ground grid systems. Abundant renewable energy at lunar or other locations could support propellant production and storage in refueling scenarios that enable affordable exploration. Renewable energy platforms in geosynchronous Earth orbits can collect and transmit power to satellites, or to Earth-surface locations. Energy-rich space technologies also enable the use of electric-powered propulsion systems that could efficiently deliver cargo and exploration facilities to remote locations. A first step to an energy-rich space infrastructure is a 100-kWe class solar-powered platform in Earth orbit. The platform would utilize advanced technologies in solar power collection and generation, power management and distribution, thermal management, electric propulsion, wireless avionics, autonomous in space rendezvous and docking, servicing, and robotic assembly. It would also provide an energy-rich free-flying platform to demonstrate in space a portfolio of technology flight experiments. This paper summary a preliminary design concept for a 100-kWe solar-powered satellite system to demonstrate in-flight a variety of advanced technologies, each as a separate payload. These technologies include, but are not limited to state-of-the-art solar concentrators, highly efficient multi-junction solar cells, integrated thermal management on the arrays, and innovative deployable structure design and packaging to enable the 100-kW satellite feasible to launch on one existing launch vehicle. Higher voltage arrays and power distribution systems (PDS) reduce or eliminate the need for massive power converters, and could enable direct-drive of high-voltage solar electric thrusters.

Howell, Joe T.↗

SpiderFab(TradeMark):Process for On-Orbit Construction of Kilometer-Scale Apertures

The SpiderFab effort investigated the value proposition and technical feasibility of radically changing the way we build and deploy spacecraft by enabling space systems to fabricate and integrate key components on-orbit. Weeveloped an architecture for a SpiderFab system, identifying the key capabilities, and detailed two concept implementations of this architecture, one specialized for fabricating support trusses for large solar arrays, and the second a robotic system capable of fabricating spacecraft components such as antenna reflectors. We then performed analyses to evaluate the value proposition for on-­orbit fabrication, and in each case found that the dramatic improvements in structural performance and packing efficiency enabled by on-orbit fabrication can provide order-of-magnitude improvements in key system metrics. For phased-­‐array radars, SpiderFab enables order-­of-­magnitude increases in gain-per-stowed-volume. For the New Worlds Observer mission, SpiderFab construction of a starshade can provide a ten-fold increase in the number of Earth-like planets discovered per dollar. For communications systems, SpiderFab can change the cost equation for large antenna reflectors, enabling affordable deployment of much larger apertures than feasible with current deployable technologies. To establish the technical feasibility, we identified methods for combining several additive manufacturing technologies with robotic assembly technologies, metrology sensors, and thermal control techniques to provide the capabilities required to implement a SpiderFab system. We performed proof-­of-concept level testing of these approaches, in each case demonstrating that the proposed solutions are feasible, and establishing the SpiderFab architecture at TRL-3. Further maturation of SpiderFab to mission-readiness is well-suited to an incremental development program. Affordable smallsat demonstrations will prepare the technology for full-scale demonstration that will unlock the full potential of the SpiderFab architecture by flight qualifying and validating an on-orbit fabrication and integration process that can be re-used to reduce the life-cycle cost and increase power, bandwidth, resolution, and sensitivity for a wide range of NASA Science and Exploration missions.

Hoyt, Robert↗

ATHLETE as a Mobile ISRU and Regolith Construction Platform

The All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robotic mobility platform can provide precision positioning and mobility for site preparation and regolith construction needs. ATHLETE is a multi-use platform designed to use swap-out tools and implements that can be applied to any number of tasks that need precision limb manipulation or mobility. Major capabilities include off-loading habitats, transporting surface assets, robotically assembling outposts from multiple mission manifests, and supporting science and technology objectives. This paper describes conceptual approaches for supporting NASA regolith construction research, such as additive construction, modular brick and panel factory, and mobile ISRU platform.

human spaceflight↗

NASA's Work in Exoplanet Hunting Satellites and Robotic Servicing of Satellites

An overview of three missions connected with NASA's Goddard Space Flight Center at the present time: (1) NASA's flagship mission, the James Webb Space Telescope, is nearing its 2021 launch date. The James Webb, which is considered the successor to the Hubble Space Telescope, will orbit at the Earth-Sun Lagrangian Point Two where it will peer back in time, using infrared detectors, to the beginnings of our Universe. (2) NASA is conducting pioneering work in the field of robotic satellite servicing in earth orbit. The RESTORE-L project, which is slated for a 2021 launch date, is expected to pave the way for the inception of robotic assembly for deep space exploration as well as the commercialization of satellite servicing. (3) The Transiting Exoplanet Survey Satellite (TESS) has been orbiting the Earth actively searching for new planets since April of 2018. The discoveries that TESS has made to-date have benefited from a careful characterization of the refractive lens assemblies on its science instruments. The presentation will provide a detailed description of how the index of refraction of the glasses used to fabricate the TESS lens assemblies were measured at Goddard to an accuracy that enables the ability to make exoplanet discoveries hundreds of light years from Earth.

Miller, Kevin H.↗

Thermoplastic Composite Lunar Tower Truss Structure: Design Development and Verification Plans

The National Aeronautics and Space Administration (NASA) Space Technology and Mission Directorate (STMD) is advancing thermoplastic composite (TPC) technologies for exploration missions. The Technology Development for Exploration Applications (TDEA) project goals are to develop and mature TPC materials, designs, analyses tools and techniques, and mature manufacturing processes. This includes development of manufacturing and joining approaches relevant to space environments. To these ends TDEA endeavors toward demonstrating a TPC truss structure for a lunar tower configuration. The design, predicated on robotic assembly, uses open section truss elements fused to a joint splice plate, without a structural adhesive. This presentation details the TDEA lunar truss structure design development approach including design heritage, the requirements established, the mechanical design and analyses, and thermal analyses demonstrating structural requirements conformance, as well as planned building block verification efforts either underway or planned. The mechanical analyses show the most severe environment is a moon-quake the truss dynamic responses. The thermal analyses show the extreme cold for on-orbit welding, the window for less severe on-orbit welding, as well as the large thermal gradients on the truss. The building block approach shown includes ultrasonic welding and lap shear coupon testing on various truss element thicknesses and layups. Knockdown factor determinations due to lunar dust contamination (simulated) and effects of welding in a vacuum are presented. The most highly loaded truss joint configuration sub-element verification test matrix is outlined. Lastly, plans to build, inspect, and test a 2-bay truss representative unit cell that is 1.5 meters by 1.5 meters by 3.0 meters tall are detailed.

Lunar Tower↗

Noncontacting Inspection Heads For Robots

Compact assembly for hand of robot includes group of sensors to monitor internal conditions of such complex equipment as turbines, pumps, motors, and generators. Inspection head includes sensors; for example, pyrometers, isotope wear analyzers, spectrometers, and interferometers. Conditions as overheating of turbines, wear of ball bearings and seals, erosion of blades and impellers, leakage of joints, and deformations of housings, monitored without disassembly or shutdown. Used in typical robot applications.

Barkhoudarian, Sarkis↗

Free-floating dual-arm robots for space assembly

Freely moving systems in space conserve linear and angular momentum. As moving systems collide, the velocities get altered due to transfer of momentum. The development of strategies for assembly in a free-floating work environment requires a good understanding of primitives such as self motion of the robot, propulsion of the robot due to onboard thrusters, docking of the robot, retrieval of an object from a collection of objects, and release of an object in an object pool. The analytics of such assemblies involve not only kinematics and rigid body dynamics but also collision and impact dynamics of multibody systems. In an effort to understand such assemblies in zero gravity space environment, we are currently developing at Ohio University a free-floating assembly facility with a dual-arm planar robot equipped with thrusters, a free-floating material table, and a free-floating assembly table. The objective is to pick up workpieces from the material table and combine them into prespecified assemblies. This paper presents analytical models of assembly primitives and strategies for overall assembly. A computer simulation of an assembly is developed using the analytical models. The experiment facility will be used to verify the theoretical predictions.

Agrawal, Sunil Kumar↗

Hardware Systems and EDU Demonstration of the Tall Lunar Tower Project

The Tall Lunar Tower (TLT) project developed a robotic tower assembly system (RTAS) and TLT Truss engineering development units (EDUs) to perform a ground demonstration of supervised semi-autonomous robotic assembly of a truss-based tall tower. Truss structures provide exceptional strength-to-weight ratios for payload capabilities supporting large masses. On the lunar surface, tall towers are a critical structural system that will enable significant solar power generation by supporting vertical solar arrays and beyond-the-horizon communications at the lunar south pole, supporting the Artemis mission architecture, as well as a lunar economy. Tall towers, greater than 30-meters-tall, provide the elevation needed for more consistent solar power generation due to low inclination sunlight and deep shadowing from surface features on the lunar surface at the poles. The robotic structural assembly technologies developed for truss-based tall towers will also enable other large-scale functional lunar structures to be built, including launch plume deflectors, lunar safe havens for astronauts and assets, surface transportation for cargo, and other critical infrastructure. Robotic assembly of truss structures for lunar surface infrastructure is near-term enabling for future Artemis mission campaign and Moon to Mars Objectives needs for power and communication. The project team designed, fabricated, tested, and demonstrated the RTAS EDU by assembling a TLT Truss EDU in a laboratory environment. The hardware systems and the supervised semi-autonomous assembly process for a TLT assembled EDU design, along with descriptions of a hardware demonstration are presented.

In-space Assembly↗

Hardware Systems and EDU Demonstration of the Tall Lunar Tower Project

The Tall Lunar Tower (TLT) project developed a robotic tower assembly system (RTAS) and TLT Truss engineering development units (EDUs) to perform a ground demonstration of supervised semi-autonomous robotic assembly of a truss-based tall tower. Truss structures provide exceptional strength-to-weight ratios for payload capabilities supporting large masses. On the lunar surface, tall towers are a critical structural system that will enable significant solar power generation by supporting vertical solar arrays and beyond-the-horizon communications at the lunar south pole, supporting the Artemis mission architecture, as well as a lunar economy. Tall towers, greater than 30-meters-tall, provide the elevation needed for more consistent solar power generation due to low inclination sunlight and deep shadowing from surface features on the lunar surface at the poles. The robotic structural assembly technologies developed for truss-based tall towers will also enable other large-scale functional lunar structures to be built, including launch plume deflectors, lunar safe havens for astronauts and assets, surface transportation for cargo, and other critical infrastructure. Robotic assembly of truss structures for lunar surface infrastructure is near-term enabling for future Artemis mission campaign and Moon to Mars Objectives needs for power and communication. The project team designed, fabricated, tested, and demonstrated the RTAS EDU by assembling a TLT Truss EDU in a laboratory environment. The hardware systems and the supervised semi-autonomous assembly process for a TLT assembled EDU design, along with descriptions of a hardware demonstration are presented.

Lunar Infrastructure↗

Assembly For Moving a Robotic Device Along Selected Axes

An assembly for moving a robotic device along selected axes includes a programmable logic controller (PLC) for controlling movement of the device along selected axes to effect movement of the device to a selected disposition. The PLC includes a plurality of single axis motion control modules, and a central processing unit (CPU) in communication with the motion control modules. A human-machine interface is provided for operator selection of configurations of device movements and is in communication with the CPU. A motor drive is in communication with each of the motion control modules and is operable to effect movement of the device along the selected axes to obtain movement of the device to the selected disposition.

Brentley Craig Nowlin↗

Definition of large components assembled on-orbit and robot compatible mechanical joints

One of four major areas of project Pathfinder is in-space assembly and construction. The task of in-space assembly and construction is to develop the requirements and the technology needed to build elements in space. A 120-ft diameter tetrahedral aerobrake truss is identified as the focus element. A heavily loaded mechanical joint is designed to robotically assemble the defined aerobrake element. Also, typical large components such as habitation modules, storage tanks, etc., are defined, and attachment concepts of these components to the tetrahedral truss are developed.

Williamsen, J.↗

Modeling and Control of Robot-Structure Coupling During In-Space Structure Assembly

This paper considers the problem of robot-structure coupling dynamics during in-space robotic assembly of large flexible structures. A two-legged walking robot is used as a construction agent, whose primary goal is to stably walking on the flexible structure while carrying a substructure component to a designated location. The reaction forces inserted by the structure to the walking robot are treated as bounded disturbance inputs, and a trajectory tracking robotic controller is proposed that combines the standard full state feedback motion controller and an adaptive controller to account for the disturbance inputs. In this study, a reduced-order Euler-Bernoulli beam structure model is adapted, and a finite number of co-located sensors and actuators are distributed along the span of the beam structure. The robot-structure coupling forces are treated as a bounded external forcing function to the structure, and hence an output covariance constraint problem can be formulated, in terms of linear matrix inequality, for optimal structure control by utilizing the direct output feedback controllers. The numerical simulations show the effectiveness of the proposed robot-structure modeling and control methodology.

Swei, Sean↗

Humanoids in Support of Lunar and Planetary Surface Operations

This paper presents a vision of humanoid robots as human's key partners in future space exploration, in particular for construction, maintenance/repair and operation of lunar/planetary habitats, bases and settlements. It integrates this vision with the recent plans for human and robotic exploration, aligning a set of milestones for operational capability of humanoids with the schedule for the next decades and development spirals in the Project Constellation. These milestones relate to a set of incremental challenges, for the solving of which new humanoid technologies are needed. A system of systems integrative approach that would lead to readiness of cooperating humanoid crews is sketched. Robot fostering, training/education techniques, and improved cognitive/sensory/motor development techniques are considered essential elements for achieving intelligent humanoids. A pilot project using small-scale Fujitsu HOAP-2 humanoid is outlined.

imitation↗

Tall Lunar Tower

The Tall Lunar Tower (TLT) In-Space Assembly (ISA) team aims to design, model, fabricate, autonomously assemble, and characterize a TLT engineering development unit (EDU). Cross-cutting truss assembly technology will be developed enabling construction of infrastructure in the lunar environment.

Tall Lunar Tower↗

Robot For Infrared Mapping Of A Large Assembly In A Vacuum

Robotic system devised for use in infrared mapping of large assembly of equipment under test in vacuum chamber. Thermal images recorded from almost any direction. In original intended application, assembly thermally mapped is spacecraft, but system also used on integrated-circuit-fabrication equipment or other industrial equipment operating in vacuum. Mechanism operated in high vacuum and extreme cold.

Mcaffee, Douglas A.↗

Uncertainty in Servicing and Assembly Tasks for Space Robotic Manipulators

This presentation will discuss a subset of the sources of uncertainty that impact autonomous in-space servicing, assembly, and manufacturing missions. These include robotic manipulator modeling uncertainties in both kinematics and dynamics, perception error associated machine learning models for pose estimation, and sensor noise. Mitigation strategies will be discussed including the incorporation of capture envelopes in the design of robotic tools and selection of robot goal poses to minimize end-effector sensitivity in manipulators with redundant degrees of freedom.

robotics↗