Unlike traditional assembly line robotic systems that have a fixed kinematic structure associated with a single tool for a structured task, next-generation robotic surgical assist systems will be required to use an array of end-effector tools. Once a robot is connected with a tool, the kinematic equations of motion are altered. Given the need to accommodate evolving surgical challenges and to a...

Flexible robotic systems for the space applications need to use local information to guide their action in uncertain environments where the state of the environment and even the goals may change. They have to be tolerant of unexpected events and robust enough to carry their task to completion. Tactical goals should be modified while maintaining strategic goals. Furthermore, reactive robotic sys...

In this paper, we introduce new performance indices to characterize the workspace of reconfigurable hyper-redundant robotic arms. These indices are then used to analyze the workspace of a type of hyper-redundant robotic arm using as modules lower mobility parallel platforms. The modules of the reconfigurable robotic arm are the three-legged translational universal–prismatic–universal (UPU) and ...

The objective of this paper is to outline the necessity of understanding vertical and horizontal system integration in advanced mechatronic systems. A Methodology, theoretical aspects and some practical results of creating and research of distributed mechatronic environment are presented, based on robotic assembly systems and 3D virtual models. A global algorithm for simulation and advanced des...

This short paper outlines new hardware and software technologies and methods being developed for automated assembly of precision high-value products such as magnetic storage devices, palmtop and wear-able computers and other high-density equipment. Our Agile Assembly Architecture (AAA) supports the creation of miniature assembly factories (mini-factories) built from small modular robotic compon...

Langley Research Center developed a unique test bed for investigating the practical problems associated with the assembly of large space truss structures using robotic manipulators. The test bed is the result of an interdisciplinary e ort that encompasses the full spectrum of assembly problems|from the design of mechanisms to the development of software. This paper describes the automated struc...

This short paper outlines new hardware and software technologies and methods being developed for automated assembly of precision high-value products such as magnetic storage devices, palmtop and wearable computers and other high-density equipment. Our Agile Assembly Architecture (AAA) supports the creation of miniature assembly factories (minifactories) built from small modular robotic componen...

Space-based robotic systems for diagnosis, repair and assembly of systems will require new techniques of planning and manipulation to accomplish these complex tasks. ' results of work in assembly task representation, discrete-ohd synthesis which provide a design environment for flexible assembly systems in manufacturing applications, and which extend to planning-of manipulation operations in un...

I-Ming Chen and Joel W. Burdick Dept. of Mechanical Engineering, Mail Code 104-44, CALTECH, Pasadena, CA 91125 Abstract. A \modular" robotic system consists of standardized joint and link units that can be assembled into a number of di erent kinematic con gurations in order to meet di erent task requirements. Given a predetermined set of modules, this paper considers the problem of nding an \op...

Supervising robotic assembly of multi-functional objects by means of a computer vision system requires components to identify assembly operations and to recognize feasible assemblies of single objects. If the results of both components should be consistent there have to be common models providing knowledge about the intended application. However, if the assembly system should handle not only ex...