A Study of Robotic Assembly in a Free-Floating Work Environment

9402435 Agrawal这个研究项目开发了一个全面的理论装配在空间使用自由浮动机器人。空间中自由运动的系统保持线动量和角动量守恒。当运动的系统相互碰撞时，由于动量的转移，速度会改变。在这个项目中，战略开发的装配使用的分析模型的自我运动，推进，对接，口袋，和释放，这些策略是在一个自由浮动的平面机器人实验室设施进行验证。模拟包括命令双臂机器人推进到目的地，与材料台对接，拾取工件，联合收割机组合成预先指定的组件，并在装配平台上释放。分析的发展，除了运动学和刚体动力学，包括多体系统的冲击和碰撞动力学。这些机器人还可应用于工业工作场所，用于组件处理和装配任务。 ***

9402435 Agrawal This research project develops a comprehensive theory for assembly in space using free-floating robots. Freely moving systems in space conserve linear and angular momentum. As moving systems collide with each other, the velocities get altered due to transfer of momentum. During this project, strategies are developed for assembly using analytical models of self motion, propulsion, docking, pock-up, and release, and these strategies are validated in a free- floating planar robot laboratory facility. Simulations include commanding dual-arm robots to propel to destinations, dock with a material table, pick up work pieces, combine into prespecified assemblies, and release on an assembly platform. Analytical developments, in addition to kinematics and rigid body dynamics, include impact and collision dynamics of multibody systems. These robots also have applications on industry work floors for component handling and assembly tasks. ***