Guidelines and Rules for Automated Assembly by Robots in Space
The installation of robots and their use for assembly in space will create an exciting and successful future for the US space program. This proposed research will develop the guidelines and rules for automated assembly in space. It will incorporate the various modifications in the design of the parts and the products in order to ease the assembly.
The problem for part-feeding will also be developed with regard to the absence of gravity in space. In addition, the guidelines for part orientation, adjustments, compliances and various assembly construction will be determined. Special attention will also be focused on the design modifications of the various fasteners and fastening methods.
The guidelines will significantly reduce the problems encountered in the automated assembly in space and will make it rather easy, simple, error-proof and less time consuming. In addition, the automated assembly in space will have a multitude of uses and advantages including initial assembly in space stations, on-orbit assembly of interplanetary spacecraft, payloads and larger antennas, repairing, refueling and testing of space-ships, assembly of large structures (unsuitable to humans in space), avoidance of human exposure to hazardous conditions, and preservation of U.S. leadership in the space program.
KeywordsSpace Station Space Program Fluid Coupling Space Robot Part Orientation
Unable to display preview. Download preview PDF.
- 1.Mahalingam, S., Sharifi, M., Dwivedi, S.N. and Vranish, J., “Special Challenges of Robotic Gripping in Space,” Proc. IEEE Comp. Soc. 20th Southeastern Conf. on Systems Theory, pp. 581–586, March 1988.Google Scholar
- 2.Vranish, J.M., “A Quick Change Gripper for Robots,” Robot Grippers, Springer Verlag, pp. 277–298, 1986.Google Scholar
- 3.Robert-Bunch, W. and Vranish, J. M., “Split Rail Parallel Gripper,” RI/SME Robots 9 Conf, June 1985.Google Scholar
- 4.Salisbury, J. K., “Teleoperator Hand Design Issues,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1355–1360, 1986.Google Scholar
- 5.Tournassoud, P., Lozano-Perez, T. and Mazer, E., “Regrasping,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1924–1928, 1987.Google Scholar
- 6.Craig, J. J. and Raibert, M., “A Systematic Method for Hybrid Position/Force Control of a Manipulator,” Proc. IEEE Computer Software Applications Conference, 1979.Google Scholar
- 8.Van der Loos, H. F. M., “Design of a Three Fingered Robotic Gripper,” The Industrial Robot, International Fluidic Services, Bedford, England, Vol. 5, No. 4, pp. 179–183, Dec. 1978.Google Scholar
- 9.Analysis of Large Space Structure Assembly, Essex Corporation, Huntsville, Alabama.Google Scholar
- 11.Preliminary Program Plan for the Space Station Flight Telerobotic Servicer Program, Prepared by Goddard Space Flight Center for the Office of NASA Headquarters, Washington, D.C., p. 6, 1987.Google Scholar
- 12.Nevins, J. L., “Exploratory Research in Industrial Modular Assembly,” R-800, Charles Starks Draper Laboratory, Inc., March 1974.Google Scholar