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Telerobotic truss assembly
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Sheridan, Philip L. |
| Copyright Year | 1987 |
| Description | The ACCESS truss was telerobotically assembled in order to gain experience with robotic assembly of hardware designed for astronaut extravehicular (EVA) assembly. Tight alignment constraints of the ACCESS hardware made telerobotic assembly difficult. A wider alignment envelope and a compliant end effector would have reduced the problem. The manipulator had no linear motion capability, but many of the assembly operations required straight line motion. The manipulator was attached to a motion table in order to provide the X, Y, and Z translations needed. A programmable robot with linear translation capability would have eliminated the need for the motion table and streamlined the assembly. Poor depth perception was a major problem. Shaded paint schemes and alignment lines were helpful in reducing this problem. The four cameras used worked well for only some operations. It was not possible to identify camera locations that worked well for all assembly steps. More cameras or movable cameras would have simplified some operations. The audio feedback system was useful. |
| File Size | 843902 |
| Page Count | 5 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19880007888 |
| Archival Resource Key | ark:/13960/t9h46mn7x |
| Language | English |
| Publisher Date | 1987-10-01 |
| Access Restriction | Open |
| Subject Keyword | Mechanical Engineering Computer Vision Teleoperators Manipulators End Effectors Orbital Assembly Telerobotics Robots Trusses Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
