Assembled, Modular Hardware Architectures - What Price Reconfigurability?

Gregg, Christine; Jenett, Benjamin; Cheung, Kenneth C.

doi:10.1109/aero.2019.8741533

Cited by 7 publications

(3 citation statements)

References 37 publications

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“…The scope and practicability of outer-space missions could be greatly enhanced through utilizing on-orbit robotics and assembly, whereby, outer-space exploration hardware could be reused for a lower cost. Studies such as [55] have shown that the assembly and performance efficiency may be kept roughly constant while incorporating infinitely scalable reconfigurability by employing modular materials, e.g. reversibly assembled cellular composites.…”

Section: Sequence Planningmentioning

confidence: 99%

Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

Daneshmand¹,

Noroozi²,

Corneanu³

et al. 2021

Preprint

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Despite their contributions to the financial efficiency and environmental sustainability of industrial processes, robotic assembly and disassembly have been understudied in the existing literature. This is in contradiction to their importance in realizing the Fourth Industrial Revolution. More specifically, although most of the literature has extensively discussed how to optimally assemble or disassemble given products, the role of other factors has been overlooked. For example, the types of robots involved in implementing the sequence plans, which should ideally be taken into account throughout the whole chain consisting of design, assembly, disassembly and reassembly. Isolating the foregoing operations from the rest of the components of the relevant ecosystems may lead to erroneous inferences toward both the necessity and efficiency of the underlying procedures. In this paper we try to alleviate these shortcomings by comprehensively investigating the state-of-the-art in robotic assembly and disassembly. We consider and review various aspects of manufacturing and remanufacturing frameworks while particularly focusing on their desirability for supporting a circular economy.

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Section: Sequence Planningmentioning

confidence: 99%

Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

Daneshmand¹,

Noroozi²,

Corneanu³

et al. 2021

Preprint

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“…We also require fasteners to be captive in the building block structural elements to reduce the logistical complexity of needing to carry additional fasteners for assembly. The fasteners must provide a mechanically reversible connection to allow reconfiguration [12]. We also wish to prioritize ease of robotic activation with low activation force and high holding strength, as well as low robotic motion complexity (low degrees of freedom with a low number of states being desired).…”

Section: Problem Statementmentioning

confidence: 99%

Androgynous Fasteners for Robotic Structural Assembly

Formoso

Gregg

Trinh

et al. 2020

2020 IEEE Aerospace Conference

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We describe the design and analysis of an androgynous fastener for autonomous robotic assembly of high performance structures. The design of these fasteners aims to prioritize ease of assembly through simple actuation with large driver positioning tolerance requirements, while producing a reversible mechanical connection with high strength and stiffness per mass. This can be applied to high strength to weight ratio structural systems, such as discrete building block based systems that offer reconfigurability, scalability, and system lifecycle efficiency. Such periodic structures are suitable for navigation and manipulation by relatively small mobile robots. The integration of fasteners, which are lightweight and can be robotically installed, into a high performance robotically managed structural system is of interest to reduce launch energy requirements, enable higher mission adaptivity, and decrease system life-cycle costs.

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“…A second step has been the design of simple autonomous robots [54,56] that are able to move on the resulting lattice structures and move their elementary cell components, thereby allowing the reconfiguration of the overall edifice. Combining such materials and robots in space promises to greatly increase the dimensions of constructible facilities and spacecraft, as well as offering to extend mission capabilities with reconfiguration and re-use [47]. Because moving mass and volume into space remains a critical factor, it is conceivable that the involved robots (just like the building material) can be produced and assembled in space; because robots will still require more complex production steps than the passive material, their availability will remain a bottleneck, so limiting their number is highly desirable.…”

mentioning

confidence: 99%

Connected Reconfiguration of Lattice-Based Cellular Structures by Finite-Memory Robots

Fekete

Niehs²,

Scheffer³

et al. 2022

Algorithmica

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We provide algorithmic methods for connected reconfiguration of lattice-based cellular structures by finite-state robots, motivated by large-scale constructions in space. We present algorithms that are able to detect and reconfigure arbitrary polyominoes, while also preserving connectivity of a structure during reconfiguration; we also provide mathematical proofs and performance guarantees. Specific results include methods for determining a bounding box, scaling a given arrangement, and adapting more general algorithms for transforming polyominoes.

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Assembled, Modular Hardware Architectures - What Price Reconfigurability?

Cited by 7 publications

References 37 publications

Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

Androgynous Fasteners for Robotic Structural Assembly

Connected Reconfiguration of Lattice-Based Cellular Structures by Finite-Memory Robots

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