Freely moving systems in space converse linear and angular momentum. As moving systems collide, the velocities get altered due to transfer of momentum. The development of strategies for assembly in a free-floating work environment requires a good understanding of primitives such as self motion of the robot, propulsion of the robot due to onboard thrusters, docking of the robot, retrieval of an object from a collection of objects, and release of an object pool. The analytics of such assemblies involve not only kinematics and rigid body dynamics but also collision and impact dynamics of multibody systems. In an effort to understand such assemblies in zero gravity space environment, we are currently developing at Ohio University a free-floating assembly facility with a dual-arm planar robot equipped with thrusters, a free-floating material table, and a free-floating assembly table. The objective is to pick up workpieces from the material table and combine into prespecified assemblies. This paper presents analytical models of assembly primitives and strategies for overall assembly. A computer simulation of an assembly is developed using the analytical models. The experiment facility will be used to verify the theoretical predictions.


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    Title :

    Free-floating dual-arm robots for space assembly


    Additional title:

    Frei bewegliche zweiarmige Roboter für Montagen im Weltraum


    Contributors:
    Agrawal, S.K. (author) / Chen, M.Y. (author)


    Publication date :

    1994


    Size :

    9 Seiten, 10 Bilder, 13 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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