Truss Assembly and Welding by Intelligent Precision Jigging Robots

被引：0

作者：

Komendera, Erik ^{[1
]}

Dorsey, John T. ^{[2
]}

Doggett, William R. ^{[2
]}

Correll, Nikolaus ^{[1
]}

机构：

[1] Univ Colorado, Dept Comp Sci, Boulder, CO 80309 USA

[2] NASA, Langley Res Ctr, Hampton, VA 23681 USA

来源：

2014 IEEE INTERNATIONAL CONFERENCE ON TECHNOLOGIES FOR PRACTICAL ROBOT APPLICATIONS (TEPRA) | 2014年

关键词：

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper describes an Intelligent Precision Jigging Robot (IPJR) prototype that enables the precise alignment and welding of titanium space telescope optical benches. The IPJR, equipped with mu m accuracy sensors and actuators, worked in tandem with a lower precision remote controlled manipulator. The combined system assembled and welded a 2 m truss from stock titanium components. The calibration of the IPJR, and the difference between the predicted and the truss dimensions as-built, identified additional sources of error that should be addressed in the next generation of IPJRs in 2D and 3D.

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页数：6

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