Structure Assembly by a Heterogeneous Team of Robots Using State Estimation, Generalized Joints, and Mobile Parallel Manipulators

Autonomous robotic assembly by mobile field robots has seen significant advances in recent decades, yet practicality remains elusive. Identified challenges include better use of state estimation to and reasoning with uncertainty, spreading out tasks to specialized robots, and implementing representative joining methods. This paper proposes replacing 1) self-correcting mechanical linkages with generalized joints for improved applicability, 2) assembly serial manipulators with parallel manipulators for higher precision and stability, and 3) all-in-one robots with a heterogeneous team of specialized robots for agent simplicity. This paper then describes a general assembly algorithm utilizing state estimation. Finally, these concepts are tested in the context of solar array assembly, requiring a team of robots to assemble, bond, and deploy a set of solar panel mockups to a backbone truss to an accuracy not built into the parts. This paper presents the results of these tests

Built On-orbit Robotically assembled Gigatruss (BORG): A mixed assembly architecture trade study

This paper explores a mixed assembly architecture trade study for a Built On-orbit Robotically assembled Gigatruss (BORG). Robotic in-space assembly (ISA) and servicing is a crucial field to expand endeavors in space. Currently, large structures in space are commonly only deployable and must be efficiently folded and packed into a launch vehicle (LV) and then deployed perfectly for operational status to be achieved. To actualize being able to build increasingly large structures in space, this scheme becomes less feasible, being constrained by LV volume and mass requirements. ISA allows the use of multiple launches to create even larger structures. The common ISA proposals consist of either strut-by-strut or multiple deployable module construction methodologies. In this paper, a mixed assembly scheme is explored and a trade study is conducted on its possible advantages with respect to many phases of a mission: 1) manufacturing, 2) stowage and transport, 3) ISA, and 4) servicing. Finally, a weighted decision matrix was created to help compare the various advantages and disadvantages of different architectural schemes.</jats:p