Interlocking structure design and assembly

Many objects in our life are not manufactured as whole rigid pieces. Instead, smaller components are made to be later assembled into larger structures. Chairs are assembled from wooden pieces, cabins are made of logs, and buildings are constructed from bricks. These components are commonly designed by many iterations of human thinking. In this report, we will look at a few problems related to interlocking components design and assembly. Given an atomic object, how can we design a package that holds the object firmly without a gap in-between? How many pieces should the package be partitioned into? How can we assemble/extract each piece? We will attack this problem by first looking at the lower bound on the number of pieces, then at the upper bound. Afterwards, we will propose a practical algorithm for designing these packages. We also explore a special kind of interlocking structure which has only one or a small number of movable pieces. For example, a burr puzzle. We will design a few blocks with joints whose combination can be assembled into almost any voxelized 3D model. Our blocks require very simple motions to be assembled, enabling robotic assembly. As proof of concept, we also develop a robot system to assemble the blocks. In some extreme conditions where construction components are small, controlling each component individually is impossible. We will discuss an option using global controls. These global controls can be from gravity or magnetic fields. We show that in some special cases where the small units form a rectangular matrix, rearrangement can be done in a small space following a technique similar to bubble sort algorithm

Lightweight High-Speed and High-Force Gripper for Assembly

This paper presents a novel industrial robotic gripper with a high grasping speed (maximum: 1396 mm/s), high tip force (maximum: 80 N) for grasping, large motion range, and lightweight design (0.3 kg). To realize these features, the high-speed section of the quick-return mechanism and load-sensitive continuously variable transmission mechanism are installed in the gripper. The gripper is also equipped with a self-centering function. The high grasping speed and self-centering function improve the cycle time in robotic operations. In addition, the high tip force is advantageous for stably grasping and assembling heavy objects. Moreover, the design of the gripper reduce the gripper's proportion of the manipulator's payload, thus increasing the weight of the object that can be grasped. The gripper performance was validated through kinematic and static analyses as well as experimental evaluations. This paper also presents the analysis of the self-centering function of the developed gripper

Fourth Annual Workshop on Space Operations Applications and Research (SOAR 90)

The proceedings of the SOAR workshop are presented. The technical areas included are as follows: Automation and Robotics; Environmental Interactions; Human Factors; Intelligent Systems; and Life Sciences. NASA and Air Force programmatic overviews and panel sessions were also held in each technical area

Apollo Program Summary Report: Synopsis of the Apollo Program Activities and Technology for Lunar Exploration

Overall program activities and the technology developed to accomplish lunar exploration are discussed. A summary of the flights conducted over an 11-year period is presented along with specific aspects of the overall program, including lunar science, vehicle development and performance, lunar module development program, spacecraft development testing, flight crew summary, mission operations, biomedical data, spacecraft manufacturing and testing, launch site facilities, equipment, and prelaunch operations, and the lunar receiving laboratory. Appendixes provide data on each of the Apollo missions, mission type designations, spacecraft weights, records achieved by Apollo crewmen, vehicle histories, and a listing of anomalous hardware conditions noted during each flight beginning with Apollo 4

History of Construction Cultures Volume 1

History of Construction Cultures Volume 1 contains papers presented at the 7ICCH – Seventh International Congress on Construction History, held at the Lisbon School of Architecture, Portugal, from 12 to 16 July, 2021. The conference has been organized by the Lisbon School of Architecture (FAUL), NOVA School of Social Sciences and Humanities, the Portuguese Society for Construction History Studies and the University of the Azores. The contributions cover the wide interdisciplinary spectrum of Construction History and consist on the most recent advances in theory and practical case studies analysis, following themes such as: - epistemological issues; - building actors; - building materials; - building machines, tools and equipment; - construction processes; - building services and techniques ; -structural theory and analysis ; - political, social and economic aspects; - knowledge transfer and cultural translation of construction cultures. Furthermore, papers presented at thematic sessions aim at covering important problematics, historical periods and different regions of the globe, opening new directions for Construction History research. We are what we build and how we build; thus, the study of Construction History is now more than ever at the centre of current debates as to the shape of a sustainable future for humankind. Therefore, History of Construction Cultures is a critical and indispensable work to expand our understanding of the ways in which everyday building activities have been perceived and experienced in different cultures, from ancient times to our century and all over the world