CRADLE seeks to address this need through a novel application of an integrated robot-structure-material system based on discrete lattice construction using task specific robots. Bolting mechanisms from SOA platforms will be modified to fit mobile robot. Lattice element/hardware pickup station and/or mobile cassettes will be designed. LiPo batteries and radio communications will enable untethered experiments. Initial autonomy will require error detection, this can be achieved through current sensing of motors and controls algorithms for error correction. And each robot will have pre-determined build sequence while collaborating on large scale construction. It is possible to address agent-based swarm system with inter-robot sensing and communication.
More »This work relates to Agency Initiatives as follows: Aeronautics: robotic assembly, inspection, repair, and maintenance of discrete lattice structures for aircraft systems such as lighter-than-air airships or long-duration atmospheric satellites. Science: robotic assembly of dishes, antennae, or other science mission platforms with apertures/baselines larger than current SOA capabilities. Exploration: Automated assembly of large space structures enables repairable, large-scale, deep-space habitats and vehicles that can allow humans to live indefinitely outside Earth. While previous work on task-specific robots for lattice structures has shown success in microgravity on parabolic flights through the external Flight Opportunities program, the limited time in microgravity (<20s) will not be sufficient for an automated assembly experiment. We are therefore seeking an experiment on a Suborbital Reusable Launch Vehicle (sRLV) P1 Flight Profile (as described here: https://www.nasa.gov/directorates/ spacetech/flightopportunities/opportunities), which can provide >2 min of continuous micro-g. This would enable an experiment with numerous sequential autonomous maneuvers. Once the TRL is sufficiently high, we would be in position to propose an extended experiment on the ISS, LOP-G, or lunar surface. This would enable a relatively large structure (on the order of 1m) to be autonomously assembled. This would then be extended to external experiments, possibly in the form of a cubesat or small satellite.
More »Organizations Performing Work | Role | Type | Location |
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Ames Research Center (ARC) | Lead Organization | NASA Center | Moffett Field, California |
Massachusetts Institute of Technology (MIT) | Supporting Organization | Academia | Cambridge, Massachusetts |