|
|||||
|
|
Robotic Assembly of Space Solar-Power Facilities |
|
| Authors: | William Whittaker Peter Staritz Rob Ambrose Brett Kennedy Stephen Fredrickson Joe Parrish Chris Urmson |
| Affiliation: | 11Carnegie Mellon Univ., 5000 Forbes Ave., Pittsburgh, PA 15213. 22Carnegie Mellon Univ., 5000 Forbes Ave., Pittsburgh, PA 15213. 33NASA Johnson Space Ctr., Houston, TX 77058. 44NASA Jet Propulsion Lab., 4800 Oak Grove Dr., Pasadena, CA 91109. 55NASA Johnson Space Ctr., Houston, TX 77058. 66NASA Headquarters, Washington, D.C. 20546. 77Carnegie Mellon Univ., 5000 Forbes Ave., Pittsburgh, PA 15213. |
| Abstract: | This paper profiles research relating to the robotic assembly, inspection, and maintenance of space solar-power facilities. Free-flying robots, fixed-base manipulators, and attached mobile manipulators are examined, the technical challenges facing them are outlined, and their roles in the construction process are illuminated. Themes include autonomous materials delivery, warehousing, large-scale payload handling and mating, payload attachment in confined spaces, and inspection. Research has addressed a fraction of the technologies needed to perform reliable autonomous assembly, inspection, and maintenance. Areas in need of further development are examined and potential research is outlined. Current technology cannot fulfill the requirements of orbital construction. The research and development needed can be completed in the near future, and substantive assembly inspection and maintenance can be achieved. |
| Keywords: | |