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Assemblers are a team of modular robots that work together to build things. Each Assembler is a stack of one or more Stewart platforms, or hexapods, made up of two plates connected by six linear actuators for movement, enabling a full six-degree-of-freedom (DOF) pose of the top plate relative to the bottom plate (see figure to the right). An end effector on each Assembler enables gripping, lifting, and welding/joining. The Assemblers system architecture features novel control algorithms and software, sensors, and communicator technology that coordinate operations of Assembler teams. The control system includes an important module for task management that estimates how many robots are needed, the optimal number of hexapods in each Assembler, and the estimated voltage needed. There are also modules for trajectory generation, joint control, sensor fusion, and fault detection. The novel control system directs the Assembler operations for high accuracy and precision, yet there is built-in dynamic resilience to failure. For example, if a single hexapod on an Assembler fails, the system deems it “rigid” in its last pose and redistributes the work to the other Assemblers. The image below shows a storyboard of operations for how Assemblers might build a solar array. NASA has developed a hardware demo with communications between subsystems, backed up by detailed simulations of the kinematics and actuator dynamics.

This technology (AERoBOND) enables the assembly of large-scale, complex composite structures while maintaining predictable mechanical and material properties. It does so by using a novel barrier-ply technology consisting of an epoxy resin/prepreg material with optimal efficiency, reliability, and performance. The barrier-ply materials prevent excessive mixing between conventional composite precursors and stoichiometrically-offset epoxy precursors during the cure process by forming a gel early in the cure cycle before extensive mixing can occur. The barrier ply is placed between the conventional laminate preform and the stoichiometrically-offset ply or plies placed on the preform surface, thus preventing excessive mass transfer between the three layers during the cure process. In practice, the barrier ply could be combined with the offset ply to be applied as a single, multifunctional surfacing layer enabling unitized assembly of large and complex structures. The AERoBOND method is up to 40% faster than state-of-the-art composite manufacturing methods, allows for large-scale processing of complex structures, eliminates the potential for weak bond failure modes, and produces composites with comparable mechanical properties as compared with those prepared by co-cure.

The Soft Mate lifting device is a below-the-hook tool that provides initial and gentle contact between mating connections while using a crane. The device utilizes a set of rolling lobe airbags to add a pneumatically adjustable soft spring into the lift rigging of a crane. The device is particularly useful for NASA's testing of the SLS, which requires the assembly and disassembly of hundreds of threaded load lines. While the load lines have relatively large diameter threaded connections to join components, the fine threads can be easily damaged by impact or misalignment. The added softness of the Soft Mate's airbag system helps maintain a neutral load on the threads to prevent galling as they are manually screwed or unscrewed. The current state of the art in precision placement of objects by cranes is a below-the-hook hydraulic system that does not add any elasticity in the lift rigging and requires the user to constantly adjust the hydraulic pressure to maintain a neutral force on objects being joined. By virtue of the pneumatic core, the Soft Mate lifting device provides the needed elasticity while minimizing user interaction during lifting and placement. Although designed particularly to aid in NASA's SLS threaded load line assembly, the extra compliance provided by the Soft Mate system may also benefit other applications where additional control and precision are required for placing or mating heavy components. The Soft Mate design has undergone extensive stress analysis and is based on commercially available components that can be scaled and optimized for different weight requirements. The system provides the flexibility needed to assemble heavy components with threaded connections or other precision crane placement applications where greater compliance is needed.

The androgynous fastener is lightweight and facilitates assembly through simple actuation with large driver-positioning tolerance requirements. This fastener provides a high-strength, reversible mechanical connection and may be used in high strength-to-weight ratio structural systems, such as lattice structure systems. The androgynous fastener resists tensile and shear forces upon loading of the lattice structure system thereby ensuring that the struts of the lattice structure system govern the mechanical behavior of the system. The androgynous fastener eliminates building-block orientation requirements and allows assembly in all orthogonal build directions. This androgynous fastener may be captive in building-block structural elements thereby minimizing the logistical complexity of transporting additional fasteners. Integration of a plurality of the androgynous fasteners into a high performance, robotically managed, structural system reduces launch energy requirements, enables higher mission adaptivity and decreases system life-cycle costs. The androgynous fastener is beneficial in any application where robotic end effectors are used to join structural components (or other parts) together. It may be particularly desirable for applications requiring frequent movement of hardware to an assembly site to replace joint connections.

Satellites and other spacecraft require maintenance and service after being deployed in orbit, requiring a wide variety of tools that perform multiple maintenance tasks (grip, cut, refuel, etc.). Current drive systems for the tool interfaces on the robotic arms that perform these service tasks are not as robust nor packaged properly for use in the ATDS. The ATDS is one part of a larger in-space servicing system (example shown in the figure below) that must be versatile and perform multiple jobs. Here, innovators at the NASA Goddard Space Flight Center have developed new BLDC motors to provide the torque necessary to drive the wide variety of tools needed for in-space servicing. The four motors provide torque to the coupler drive, linear drive, inner rotary drive, and outer rotary drive of the ATDS. The new BLDC motors will enable the tools attached to the ATDS to be operated in multiple modes of operation. Each of the four motors have been customized with different speed and torque capabilities to meet the different performance requirements of the various actuator drive trains while maintaining a common gearhead across all the motors. Further, the packaging surrounding the motors has been tailored to reduce the overall weight of the motors and reduce the motor footprint to meet the needs of the ATDS. The BLDC motors for the ATDS are available for patent licensing.

The novel technology is a method for the design, manufacture, and assembly of modular lattice structure based mechanical metamaterials composed of cuboctahedron unit cells. The main parameters for determining the behavior of an architected lattice material are 1. Lattice geometry: base unit cell topology defines joint connectivity and informs general lattice behavior (e.g. bending or stretch dominated), which can then be used for performance prediction relative to constituent material and density. Cell size (edge length) and edge thickness (cross section) can be used to calculate relative density; 2. Base constituent material: solid properties (mechanical, thermal, electrical, etc.) are used to calculate effective properties of resulting lattice, as well as to inform manufacturing processes. The invention relates particularly to a cuboctahedral lattice geometry, which can be decomposed into face connected cuboctahedrons. The material used is determined by the manufacturing process, such as injection molding. This offers a range of high-performance options such as glass fiber and carbon fiber reinforced polymer (GFRP, CFRP) composites. The size of the lattice can vary based on the application. Molded individual faces (bottom left figure) are then assembled into the cuboctahedron voxel building block (bottom right figure). This assembly can be achieved with a number of methods, including permanent methods such as welding or gluing, or reversible methods such as bolting or riveting.

The new SMC substrate has four components: a shape memory polymer separately developed at NASA Langley; a stack of thin-ply carbon fiber sheets; a custom heater and heat spreader between the SMC layers; and integrated sensors (temperature and strain). The shape memory polymer allows the as-fabricated substrate to be programmed into a temporary shape through applied force and internal heating. In the programmed shape, the deformed structure is in a frozen state remaining dormant without external constraints. Upon heating once more, the substrate will return slowly (several to tens of seconds) to the original shape (shown below). The thin carbon fiber laminate and in situ heating solve three major pitfalls of shape memory polymers: low actuation forces, low stiffness and strength limiting use as structural components, and relatively poor heat transfer. The key benefit of the technology is enabling efficient actuation and control of the structure while being a structural component in the load path. Once the SMC substrate is heated and releases its frozen strain energy to return to its original shape, it cools down and rigidizes into a standard polymer composite part. Entire structures can be fabricated from the SMC or it can be a component in the system used for moving between stowed and deployed states (example on the right). These capabilities enable many uses for the technology in-space and terrestrially.

The goal of this computer vision software is to take the guesswork out of grapple operations aboard the ISS by providing a robotic arm operator with real-time pose estimation of the grapple fixtures relative to the robotic arms end effectors. To solve this Perspective-n-Point challenge, the software uses computer vision algorithms to determine alignment solutions between the position of the camera eyepoint with the position of the end effector as the borescope camera sensors are typically located several centimeters from their respective end effector grasping mechanisms. The software includes a machine learning component that uses a trained regional Convolutional Neural Network (r-CNN) to provide the capability to analyze a live camera feed to determine ISS fixture targets a robotic arm operator can interact with on orbit. This feature is intended to increase the grappling operational range of ISSs main robotic arm from a previous maximum of 0.5 meters for certain target types, to greater than 1.5 meters, while significantly reducing computation times for grasping operations. Industrial automation and robotics applications that rely on computer vision solutions may find value in this softwares capabilities. A wide range of emerging terrestrial robotic applications, outside of controlled environments, may also find value in the dynamic object recognition and state determination capabilities of this technology as successfully demonstrated by NASA on-orbit. This computer vision software is at a technology readiness level (TRL) 6, (system/sub-system model or prototype demonstration in an operational environment.), and the software is now available to license. Please note that NASA does not manufacture products itself for commercial sale.