This paper summarizes the developmental phases of the program, the results of several assembly tests, and a series of proposed enhancements. These upgrades included the use of distributed microprocessors to control dedicated end-effector operations, machine vision guidance for strut installation, and the use of an expert system-based executive-control program. However, as the system matured and operations were proven, upgrades were incorporated and assessed against the baseline test results.
Curved space truss software#
A brute-force automation approach was used to develop baseline assembly hardware and software techniques. The hardware and operations required to assemble a 102-member tetrahedral truss and attach 12 hexagonal panels were developed and evaluated. Quach, Cuong C.Ī multidisciplinary program has been conducted at the Langley Research Center to develop operational procedures for supervised autonomous assembly of truss structures suitable for large-aperture antennas. Verification Test of Automated Robotic Assembly of Space Truss Structures We describe the design and implementation of the robot and show that the assembled truss compares favorably with prior truss deployment systems. This paper presents a robotic truss assembler designed for space applications - the Space Robot Universal Truss System (SpRoUTS) - that reversibly assembles a truss from a feedstock of hinged andflat-packed components, by folding the sides of each component up and locking onto the assembled structure. Jenett, Benjamin Cellucci, Daniel Cheung, KennethĪutomatic deployment of structures has been a focus of much academic and industrial work on infrastructure applications and robotics in general. SpRoUTS ( Space Robot Universal Truss System): Reversible Robotic Assembly of Deployable Truss Structures of Reconfigurable Length
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