Algorithmic Approaches to Reconfigurable Assembly Systems

08/27/2020
by   Allan Costa, et al.
0

Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and relatively small scale robotics that are able to modify and traverse the structure. This paper addresses the algorithmic problems in scaling reconfigurable space structures built through robotic construction, where reconfiguration is defined as the problem of transforming an initial structure into a different goal configuration. We analyze different algorithmic paradigms and present corresponding abstractions and graph formulations, examining specialized algorithms that consider discretized space and time steps. We then discuss fundamental design trades for different computational architectures, such as centralized versus distributed, and present two representative algorithms as concrete examples for comparison. We analyze how those algorithms achieve different objective functions and goals, such as minimization of total distance traveled, maximization of fault-tolerance, or minimization of total time spent in assembly. This is meant to offer an impression of algorithmic constraints on scalability of corresponding structural and robotic design. From this study, a set of recommendations is developed on where and when to use each paradigm, as well as implications for physical robotic and structural system design.

READ FULL TEXT

page 1

page 2

page 5

page 6

page 9

research
10/01/2018

Automated motion planning for robotic assembly of discrete architectural structures

While robotics for architectural-scale construction has made significant...
research
05/24/2021

Robotic additive construction of bar structures: Unified sequence and motion planning

Additive robotic construction of building-scale discrete bar structures,...
research
06/18/2021

Construction of Planar and Symmetric Truss Structures with Interlocking Edge Elements

In this paper, we present an algorithmic approach to design and construc...
research
04/10/2021

Three Cooperative Robotic Fabrication Methods for the Scaffold-Free Construction of a Masonry Arch

Geometrically complex masonry structures (e.g., arches, domes, vaults) a...
research
03/16/2020

Modeling and Experimental Validation of a Fractal Tetrahedron UAS Assembly

This paper presents the foundation of a modular robotic system comprised...
research
04/02/2020

A reconfigurable robot workcell for quick set-up of assembly processes

High volume production has been a prerequisite in order to invest into a...
research
08/08/2022

Origami-based Zygote structure enables pluripotent shape-transforming deployable structure

We propose an algorithmic framework of a pluripotent structure evolving ...

Please sign up or login with your details

Forgot password? Click here to reset