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

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Precise truss assembly using commodity parts and low precision welding

Content Provider	Springer Nature Link
Author	Komendera, Erik Reishus, Dustin Dorsey, John T. Doggett, William R. Correll, Nikolaus
Copyright Year	2014
Abstract	Hardware and software design and system integration for an intelligent precision jigging robot (IPJR), which allows high precision assembly using commodity parts and low-precision bonding, is described. Preliminary 2D experiments that are motivated by the problem of assembling space telescope optical benches and very large manipulators on orbit using inexpensive, stock hardware and low-precision welding are also described. An IPJR is a robot that acts as the precise “jigging”, holding parts of a local structure 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 (for this prototype, 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. The analysis of the assembly error and the results of building a square structure and a ring structure are discussed. Options for future work, to extend the IPJR paradigm to building in 3D structures at micron precision are also summarized.
Starting Page	93
Ending Page	102
Page Count	10
File Format	PDF
ISSN	18612776
Journal	Intelligent Service Robotics
Volume Number	7
Issue Number	2
e-ISSN	18612784
Language	English
Publisher	Springer Berlin Heidelberg
Publisher Date	2014-02-05
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Robotic assembly Autonomous robots Precision manipulation Space robotics Distributed robots Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) User Interfaces and Human Computer Interaction Vibration, Dynamical Systems, Control Robotics and Automation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Mechanical Engineering Computational Mechanics

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