Free-floating dual-arm robots for space assembly

The objective of this experiment testbed is to verify the analytics of assemblies in free-fluating work Freely moving systems in space conserve linear and anenvironment. This paper is organized in the followgular momentum. As moving systems collide, the velociing way: An outline of the free-floating robot faties get altered due to transfer of momentum. The develcility of Ohio University, its analytical descriptions, oprnent of strategies for assembly in a free-floating work and kinematics are presented in Section 2. The anenvironment requires a good understanding of prirnialytical models of the assembly primitives such as tives such as self motion of the robot, propulsion of the self motion, propulsion, docking, pickup, and release robot due to onboard thrusters, docking of the robot, are described in Section 3. An assembly problem retrieval of an object from a collection of objects, and is discussed in Section 4. An outline of a general release of an object in an object pool. The analytics purpose simulation program FLOAT is described in of such assemblies involve not only kinematics and rigid Section 5 which is designed to study strategies Jf body dynamics but also collision and impact dynamics assembly. 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 2 assembly facility with a dual-arm planar robot equipped with thrusters, a free-floating material table, and a free2.1 floating assembly table. The objective is to pick up workpieces from the material table and combine into The free-floating robot facility of Ohio University prespecified assemblies. This paper presents analytical consists of a free-floating dual-arm planar robot , a Abstract