Development of a machine vision system for automated structural assembly

Research is being conducted at the LaRC to develop a telerobotic assembly system designed to construct large space truss structures. This research program was initiated within the past several years, and a ground-based test-bed was developed to evaluate and expand the state of the art. Test-bed operations currently use predetermined ('taught') points for truss structural assembly. Total dependence on the use of taught points for joint receptacle capture and strut installation is neither robust nor reliable enough for space operations. Therefore, a machine vision sensor guidance system is being developed to locate and guide the robot to a passive target mounted on the truss joint receptacle. The vision system hardware includes a miniature video camera, passive targets mounted on the joint receptacles, target illumination hardware, and an image processing system. Discrimination of the target from background clutter is accomplished through standard digital processing techniques. Once the target is identified, a pose estimation algorithm is invoked to determine the location, in three-dimensional space, of the target relative to the robots end-effector. Preliminary test results of the vision system in the Automated Structural Assembly Laboratory with a range of lighting and background conditions indicate that it is fully capable of successfully identifying joint receptacle targets throughout the required operational range. Controlled optical bench test results indicate that the system can also provide the pose estimation accuracy to define the target position

Postbuckling response of long thick plates loaded in compression including higher order transverse shearing effects

Buckling and postbuckling results are presented for compression-loaded simply-supported aluminum plates and composite plates with a symmetric lay-up of thin + or - 45 deg plies composed of many layers. Buckling results for aluminum plates of finite length are given for various length-to-width ratios. Asymptotes to the curves based on buckling results give N(sub xcr) for plates of infinite length. Postbuckling results for plates with transverse shearing flexibility are compared to results from classical theory for various width-to-thickness ratios. Characteristic curves indicating the average longitudinal direct stress resultant as a function of the applied displacements are calculated based on four different theories: Classical von Karman theory using the Kirchoff assumptions, first-order shear deformation theory, higher-order shear deformation theory, and 3-D flexibility theory. Present results indicate that the 3-D flexibility theory gives the lowest buckling loads. The higher-order shear deformation theory has fewer unknowns than the 3-D flexibility theory but does not take into account through-the-thickness effects. The figures presented show that small differences occur in the average longitudinal direct stress resultants from the four theories that are functions of applied end-shortening displacement

Postbuckling response of long thick isotropic plates loaded in compression including higher order transverse shearing effects

Buckling and postbuckling results for aluminum plates loaded in compression are presented. The buckling results were plotted to show the effects of thickness on the stress coefficient. Buckling results are given for various length-to-width ratios. Postbuckling results for plates with transverse shearing flexibility are compared to results from classical theory for various width-to-thickness ratios. The plates are considered to be long with side edges simply supported, with edges free of stress and the plates are subjected to longitudinal compressive displacement. Characteristic curves indicating the average longitudinal direct stress resultant as a function of the applied displacements are calculated based on four different theories: Classical von Karman, first-order shear deformation, higher-order shear deformation, and three-dimensional flexibility. Present results indicate that the three-dimensional flexibility theory gives the lowest and therefore, most accurate results. The higher-order shear deformation theory has fewer unknowns than the three-dimensional flexibility but is not as accurate. The figures presented show that small differences occur in the maximum stress resultants and the transverse displacements calculated when the effects of transverse shear are included

Experimental behavior of graphite-epoxy Y-stiffened specimens loaded in compression

An experimental investigation of the behavior of graphite-epoxy Y-stiffened specimens loaded in compression is presented. Experimental results are presented for element specimens with a single stiffener and for panel specimens with three stiffeners. Response and failure characteristics of the specimens are described. Effects of impact damage on structural response for both specimen configurations are also presented. Experimental results indicate that impact location may significantly affect the residual strength of the Y-stiffened specimens. The failure results indicate that the critical failure mode is buckling of the stiffener webs for Y-stiffened element specimens and buckling of the stiffener webs and other stiffener blades for the Y-stiffened panel specimens

11. SUPPLEMENTARY NOTES 5. FUNDING NUMBERS

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