This paper presents test results for autonomous assembly of a modular space structure. A Universal Robots UR10e manipulator with a custom end-effector, known as the Grapple Tool, was used to join TriTruss structural modules. The TriTrusses and their assembly configuration were developed for an in-space assembled telescope conceptual design. The tests presented here were performed with a 1:2.8 dimensionally scaled version of the Tri-Trusses. Robot trajectories were generated autonomously using a sample-based motion planner and an a-priori worksite model. The test results verify the assembly concept of operations as well as the software requirements for the Grapple Tool. While the Grapple Tool used in the tests was designed for the 1:2.8 scale Tri-Trusses, it has the same actuators, software, and computation architecture as the version designed for the full scale structure. The test operations consist of picking up two TriTrusses from their stowed locations and joining them to a third TriTruss mounted on a test stand and joining them to each other. This constitutes the first three modules of the in-space assembled telescope conceptual design. The paper presents the robot behavioral architecture, the generated trajectories commanded, the actual trajectories of the robot, and actuator performance of the Grapple Tool.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Test Results for Autonomous Assembly of Modular Space Structures


    Beteiligte:
    John R. Cooper (Autor:in) / Jacob R. Martin (Autor:in) / Olive R. Stohlman (Autor:in) / Collin J. Cresta (Autor:in) / Thea V. Avila (Autor:in) / Radhika Rajaram (Autor:in) / Andrew K. McQuarry (Autor:in)

    Kongress:

    AIAA ASCEND (Accelerating Space Commerce, Exploration, and New Discovery) ; 2023 ; Las Vegas, NV, US


    Medientyp :

    Sonstige


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Test Results for Autonomous Assembly of Modular Space Structures

    Cooper, John R. / Cresta, Collin J. / Avila, Thea V. et al. | AIAA | 2023


    Test Results for Autonomous Assembly of Modular Space Structures

    John R. Cooper / Jacob R. Martin / Olive R. Stohlman et al. | NTRS




    Autonomous Assembly of Modular Structures in Space and on Extraterrestrial Locations

    Alhorn, D. C. | British Library Conference Proceedings | 2005