Robotic Assembly Planning of Tensegrity Structures
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Date
2017-04
Authors
Nurimbetov, Birzhan
Journal Title
Journal ISSN
Volume Title
Publisher
Nazarbayev University School of Science and Technology
Abstract
Tensegrity structures provide durability and stability with minimal weight. Thanks
to these properties, use of tensegrity structures for space applications is becoming
an active research area. One of the main challenges is the automated construction
of such structures in space. In this thesis, we present a framework for the automated
assembly planning of tensegrity structures using an industrial manipulator
(Staubli TX90XL) equipped with a purpose-specific end-effector. We leverage the
recent advances in sampling-based motion planning to create the motion plans (i.e.
the reference trajectories for the manipulator joints). Specifically, we divided the
assembly planning problem into three stages. In the first stage, the initial position
and orientation of the given tensegrity structure with respect to the assembly robot
is determined using a motion-planning integrated forward elimination search. In the
second stage, a feasible assembly sequence of the strings is found using backward
disassembly search. Lastly, individual robot motion plans for attaching each string
to the bars for the given tensegrity configuration is generated using RRT* algorithm.
The efficacy of the framework was demonstrated using an extensive set of simulation
and real-world experiments dealing with the assembly of a 3-strut and 9-string tensegrity
prism structure, which can be utilized as a building block of complex tensegrity
structures.
Description
Keywords
Robotic Assembly Planning, Tensegrity Structures
Citation
Birzhan Nurimbetov. Robotic Assembly Planning of Tensegrity Structures. 2017. Department of of Robotics and Mechatronics, School of Science and Technology, Nazarbayev University