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Browsing by Author "Chapin, William"

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    Built On-Orbit Robotically Assembled Gigatruss (BORG): Ground Robotic Demonstration
    Chapin, Samantha; Everson, Holly; Chapin, William; Komendera, Erik (MDPI, 2024-05-31)
    The next generation of large space infrastructure will require crucial advancements in current technology. Current methodologies focus on large deployable structures folded into cramped payload fairings or revolutionary assembly techniques requiring many moving components. Utilizing both in-space assembly and deployable concepts, a hybrid mixed assembly scheme was posed using smaller deployable units interspersed with rigid connecting elements to assemble these large architectures. The Built On-Orbit Robotically Assembled Gigatruss (BORG) structure allows for modularity in assembly and repair with the number of separate elements comprising the structure to be reduced, compared to strut-by-strut assembly. The following documents the process of constructing and running physical trials on a prototype BORG architecture. Additionally, a Semantic and Fiducial Aided Graph Simultaneous Localization and Mapping (SF-GraphSLAM) approach is taken to verify the relation of assembled and deployed truss elements to aid in error evaluation and state estimation. This technology demonstration stands as a proof of concept in verifying the viability of the BORG architecture as a method for large structure assembly.
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    Force-Controlled Pose Optimization and Trajectory Planning for Chained Stewart Platforms
    Beach, Benjamin; Chapin, William; Glassner, Samantha; Hildebrand, Robert; Komendera, Erik (Frontiers, 2023-11-24)
    Introduction: We study optimization methods for poses and movements of chained Stewart platforms (SPs) that we call an “Assembler” Robot. These chained SPs are parallel mechanisms that are stronger, stiffer, and more precise, on average, than their serial counterparts at the cost of a smaller range of motion. By linking these units in a series, their individual limitations are overcome while maintaining truss-like rigidity. This opens up potential uses in various applications, especially in complex space missions in conjunction with other robots. Methods: To enhance the efficiency and longevity of the Assembler Robot, we developed algorithms and optimization models. The main goal of these methodologies is to efficiently decide on favorable positions and movements that reduce force loads on the robot, consequently minimizing wear. Results: The optimized maneuvers of the interior plates of the Assembler result in more evenly distributed load forces through the legs of each constituent SP. This optimization allows for a larger workspace and a greater overall payload capacity. Our computations primarily focus on assemblers with four chained SPs. Discussion: Although our study primarily revolves around assemblers with four chained SPs, our methods are versatile and can be applied to an arbitrary number of SPs. Furthermore, these methodologies can be extended to general over-actuated truss-like robot architectures. The Assembler, designed to function collaboratively with several other robots, holds promise for a variety of space missions.