Material–Robot System for Assembly of Discrete Cellular Structures

Jenett, Benjamin; Abdel-Rahman, Amira; Cheung, Kenneth C.; Gershenfeld, Neil

doi:10.1109/lra.2019.2930486

Cited by 57 publications

(36 citation statements)

References 49 publications

(54 reference statements)

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“…When automation is utilized as the main strategy for improving the repeatability of RAD processes, inherent uncertainties and errors can undermine performance [80]. Robotic disassembly may be complicated by various types of uncertainties, e.g.…”

Section: Tackling Uncertaintiesmentioning

confidence: 99%

See 1 more Smart Citation

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: Tackling Uncertaintiesmentioning

confidence: 99%

“…Automatizing product assembly and disassembly (a process known as RAD 1 (see Fig. 1) can lead to enhancements in speed of production and general affordability [80]. RAD has two important parts: Planning and Execution.…”

Section: Introductionmentioning

confidence: 99%

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

Daneshmand¹,

Noroozi²,

Corneanu³

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…The coordination of robotic construction through interaction with the environment is inspired by stigmergy in social insects [4]. Several approaches have been proposed in this context, both in simulation [2], [5], [6], [7], [8], [9] and with real robotic platforms [10], [11], [12], [13], [14], [15]. In particular, AMAS [2], [14] is a smart block / inchworm concept where the building material is capable of storage, communication, and power transmission.…”

Section: Introductionmentioning

confidence: 99%

“…Bill-E [18] is another inchworm robot designed to navigate and build versatile 3D structures composed of special blocks that latch magnetically, rather than mechanically as in AMAS and SMAC. Planning is centralized in a dedicated machine [15], rather than being performed by the inchworms or the blocks.…”

Section: Introductionmentioning

confidence: 99%

SMAC: Symbiotic Multi-Agent Construction

Wagner

Dhanaraj

Rizzo

et al. 2021

IEEE Robot. Autom. Lett.

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“…In the area of robotic assembly, modular control strategies utilizing component geometry have been developed to build structures using ground and aerial robotics. 12,13 Collaborative multi-robotic systems have also been designed to transport and manipulate voxels to construct plates, enclosures, and cellular beams, 14 and through coarse and fine manipulation techniques. 15 Distributed control has been used for larger multirobotic systems so agents can collectively climb and assemble the structure they are building on.…”

Section: Introductionmentioning

confidence: 99%

Safe and Uncertainty-Aware Robotic Motion Planning Techniques for Agile On-Orbit Assembly

Doerr,

Albee,

Ekal

et al. 2021

Preprint

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As access to space and robotic autonomy capabilities move forward, there is simultaneously a growing interest in deploying large, complex space structures to provide new on-orbit capabilities. New space-borne observatories, large orbital outposts, and even futuristic on-orbit manufacturing will be enabled by robotic assembly of space structures using techniques like on-orbit additive manufacturing which can provide flexibility in constructing and even repairing complex hardware. However, the dynamics underlying the robotic assembly system during manipulation may operate under uncertainties (e.g. changing inertial properties). Thus, inertial estimation of the robotic assembler and the manipulated additively manufactured component must be considered during the structural assembly process. The contribution of this work is to address both the motion planning and control for robotic assembly with consideration of the inertial estimation of the combined free-flying robotic assembler and additively manufactured component system. Specifically, the Linear Quadratic Regulator Rapidly-Exploring Randomized Trees (LQR-RRT*) and dynamically feasible path smoothing are used to obtain obstacle-free trajectories for the system. Further, model learning is incorporated explicitly into the planning stages via approximation of the continuous system and accompanying reward of performing safe, objective-oriented motion. Remaining uncertainty can then be dealt with explicitly via robust tube model predictive control techniques. By obtaining controlled trajectories that consider both obstacle avoidance and learning of the inertial properties of the free-flyer and manipulated component system, the free-flyer rapidly considers and plans the construction of space structures with enhanced system knowledge. The approach naturally generalizes to repairing, refueling, and re-provisioning space structure components while providing optimal collision-free trajectories under e.g., inertial uncertainty.

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Material–Robot System for Assembly of Discrete Cellular Structures

Cited by 57 publications

References 49 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

SMAC: Symbiotic Multi-Agent Construction

Safe and Uncertainty-Aware Robotic Motion Planning Techniques for Agile On-Orbit Assembly

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