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NASA Langley Summer 2017
In the Summer of 2017 I was an intern in the Structure and Mechanics Branch at NASA Langley Research Center. While there I joined the CIRAS in-space assembly team. Our primary goal was carrying the NASA Intelligent Jigging and Assembly Robot (NINJAR) through it's Ground Demonstration 2.0.
NINJAR is a stewart platform robot with six large Ultramotion linear actuators that control the over motion. It purpose is to simultaneously hold all eight joints of a square bay truss in place while rigid struts are place between the nodes. These struts are placed with the Lightweight Surface Manipulation System (LSMS) which is a large tendon actuated crane. Outfitted at the end of LSMS is the Strut Manufacturing, Utility & Robotic Aid (SAMURAI) which placed each of the struts of the truss.
In addition the Tendon Actuated Lightweight In-Space Manipulators (TALISMAN) was also an element of CIRAS which served as a large positioning arm for in-space assembly taks.
The ground demonstration required that the NINJAR position the joints precisely enough to allow the constructed truss to be within 5mm and 3 degrees of the ideal truss model.
NINJAR Post Truss Assembly With All Struts In Place
LSMS with SAMURAI Inserting a Strut
Talisman Testbed
Personal Contribution
Personal Contribution
My primary role on this team was the communication of the actuators into the simulink model and communication with the Speedgoat Realtime Machine. Most of this time was spent with the six large Ultramotion Linear Actuators that connected the top and bottom plates and were responsible for the stewart platform motion. I was able to successfully communicate with them over serial and execute controlled motions. We also implemented game pad control with the robot as well for non-demonstration motion tasks.
As a member of the demonstration team my tasks were extremely varied in order to support any and all aspects of the demonstration. These resulted in calibrating the CADing and 3D printing components, soldering circuit boards, physical assembly, Vicon camera calibrations, and workspace prep.
During the demonstration as well, the interns "simulated welding" in the scene with hotmelt adhesive to ensure the truss would stay after the NINJAR disengaged.
In addition, I also worked with the Talisman testbed operating and debugging the Beckhoff realtime control system and integrating with both its Twincat and Simulink components.
Ground Demonstration Coverage
Ground Demonstration Coverage
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