NDLI: Precise truss assembly using commodity parts and low precision welding

Content Provider	IEEE Xplore Digital Library
Author	Komendera, E. Reishus, D. Correll, N.
Copyright Year	2013
Description	Author affiliation: Dept. of Comput. Sci., Univ. of Colorado at Boulder, Boulder, CO, USA (Komendera, E.; Reishus, D.; Correll, N.)
Abstract	We describe an Intelligent Precision Jigging Robot (IPJR), which allows high precision assembly of commodity parts with low-precision bonding. We present preliminary experiments in 2D that are motivated by the problem of assembling a space telescope optical bench on orbit using inexpensive, stock hardware and low-precision welding. An IPJR is a robot that acts as the precise "jigging", holding parts of a local assembly site in place while an external low precision assembly agent cuts and welds members. The prototype presented in this paper allows an assembly agent (in this case, a human using only low precision tools), to assemble a 2D truss made of wooden dowels to a precision on the order of millimeters over a span on the order of meters. We report the challenges of designing the IPJR hardware and software, analyze the error in assembly, document the test results over several experiments including a large-scale ring structure, and describe future work to implement the IPJR in 3D and with micron precision.
Sponsorship	IEEE Boston Sect.
Starting Page	1
Ending Page	6
File Size	1135622
Page Count	6
File Format	PDF
ISBN	9781467362238
ISSN	23250534
e-ISBN	9781467362252
DOI	10.1109/TePRA.2013.6556345
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Welding Robots
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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