Design of multifunctional paired robots engaged across a thin plate for aircraft manufacturing and maintenance

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.Cataloged from PDF version of thesis.Includes bibliographical references (p. 77-78).The aircraft industry lacks an automated system for wing box manufacturing and maintenance. Currently workers assemble and inspect thousands of fasteners in the wing structure by hand. This manufacturing process consumes valuable time and resources. Mobile robots capable of navigating on the interior and exterior of the wing have the potential to perform the wing structure manufacturing tasks. This thesis describes the design, analysis, and implementation of paired robots engaged across a thin plate. Two robots, each capable of carrying an end effector, are engaged using strong magnets attracting each other and thereby supporting each body against gravity. The robots must move across the surface of the box, while avoiding interference with obstacles fixed to the surface. The multifunctional paired robots navigate the surface with three different operations. The paired robots are automatically loaded and unloaded from the confined box through a small entry hole using the "Flipping" operation. The "Drive and Slide" operation is used on horizontal surfaces. The robots "Step" over obstacles while securely holding each body against gravity. Parametric models of the robots are developed, and the conditions for the successful multifunctional operations are analyzed. The two primary failure modes are tipping of the robots on either side of the thin panel. An optimal trajectory that minimizes the peak tipping moments, while also minimizing how close the robots are to failure is designed to meet the many challenges of the stepping operation. The trajectory ensures that the failure modes are avoided during the disengagement of the strong permanent magnets in the stepping operation. The position trajectories are parameterized using cubic splines with the bounds being the start and end robot configurations. Prototype paired robots are constructed and experimentally tested. The prototype robots performed their multifunctional operation modes on a mock wing structure, validating the design and analysis.by Geoffrey Ian Karasic.S.M

Design and control of a semi-passive, heavy-duty paired mobile robot system with application to aircraft wing assembly

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2010.Cataloged from PDF version of thesis.Includes bibliographical references (p. 126-128).We describe the development of a robotic system capable of performing a class of manufacturing operations. An example of such an operation is commonly found in aircraft assembly - this demonstrates the immediate applicability of this research. The system utilizes a unique concept - a pair of mobile robots acting on opposite sides of a thin wall. The robots interact with one another through the use of magnetic fields that penetrate this wall. The 'inner' robot is untethered and is controlled by the 'outer' robot. Despite the significant mass of the outer robot, it operates without the aid of physical external supports. Full modeling of the system is presented. We include calculations for forces and torques produced by sets of permanent magnets for any system state. Simplified, tractable versions of this model for the purpose of control are also described. The system is designed to execute closed loop fine position control and large scale locomotion. Experimental results from a functional prototype verify the effectiveness of the design as well as the robustness of a position controller. Numerical optimal control results have been developed for high speed point to point trajectory motion. This 'pair of robots' paradigm could be applicable to a variety of tasks. This work outlines analysis techniques that are useful for such a system at most scales.by Manas Chandran Menon.Ph.D

Index to 1986 NASA Tech Briefs, volume 11, numbers 1-4

Short announcements of new technology derived from the R&D activities of NASA are presented. These briefs emphasize information considered likely to be transferrable across industrial, regional, or disciplinary lines and are issued to encourage commercial application. This index for 1986 Tech Briefs contains abstracts and four indexes: subject, personal author, originating center, and Tech Brief Number. The following areas are covered: electronic components and circuits, electronic systems, physical sciences, materials, life sciences, mechanics, machinery, fabrication technology, and mathematics and information sciences

Fabricate

Bringing together pioneers in design and making within architecture, construction, engineering, manufacturing, materials technology and computation, Fabricate is a triennial international conference, now in its third year (ICD, University of Stuttgart, April 2017). Each year it produces a supporting publication, to date the only one of its kind specialising in Digital Fabrication. The 2017 edition features 32 illustrated articles on built projects and works in progress from academia and practice, including contributions from leading practices such as Foster + Partners, Zaha Hadid Architects, Arup, and Ron Arad, and from world-renowned institutions including ICD Stuttgart, Harvard, Yale, MIT, Princeton University, The Bartlett School of Architecture (UCL) and the Architectural Association

Fabricate 2020

Fabricate 2020 is the fourth title in the FABRICATE series on the theme of digital fabrication and published in conjunction with a triennial conference (London, April 2020). The book features cutting-edge built projects and work-in-progress from both academia and practice. It brings together pioneers in design and making from across the fields of architecture, construction, engineering, manufacturing, materials technology and computation. Fabricate 2020 includes 32 illustrated articles punctuated by four conversations between world-leading experts from design to engineering, discussing themes such as drawing-to-production, behavioural composites, robotic assembly, and digital craft

NASA Tech Briefs, April 1990

Topics: New Product Ideas; NASA TU Services; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery; Fabrication Technology; Mathematics and Information Sciences

A History of Materials and Technologies Development

The purpose of the book is to provide the students with the text that presents an introductory knowledge about the development of materials and technologies and includes the most commonly available information on human development. The idea of the publication has been generated referring to the materials taken from the organic and non-organic evolution of nature. The suggested texts might be found a purposeful tool for the University students proceeding with studying engineering due to the fact that all subjects in this particular field more or less have to cover the history and development of the studied object. It is expected that studying different materials and technologies will help the students with a better understanding of driving forces, positive and negative consequences of technological development, etc

Cumulative index to NASA Tech Briefs, 1986-1990, volumes 10-14

Tech Briefs are short announcements of new technology derived from the R&D activities of the National Aeronautics and Space Administration. These briefs emphasize information considered likely to be transferrable across industrial, regional, or disciplinary lines and are issued to encourage commercial application. This cumulative index of Tech Briefs contains abstracts and four indexes (subject, personal author, originating center, and Tech Brief number) and covers the period 1986 to 1990. The abstract section is organized by the following subject categories: electronic components and circuits, electronic systems, physical sciences, materials, computer programs, life sciences, mechanics, machinery, fabrication technology, and mathematics and information sciences

Annals of Scientific Society for Assembly, Handling and Industrial Robotics

This Open Access proceedings present a good overview of the current research landscape of industrial robots. The objective of MHI Colloquium is a successful networking at academic and management level. Thereby the colloquium is focussing on a high level academic exchange to distribute the obtained research results, determine synergetic effects and trends, connect the actors personally and in conclusion strengthen the research field as well as the MHI community. Additionally there is the possibility to become acquainted with the organizing institute. Primary audience are members of the scientific association for assembly, handling and industrial robots (WG MHI)

Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1

The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications