Modular and reconfigurable assembler system for autonomous in-space assembly

US11989009B2 · kind B2 · utility

Assignee

• United States of America as represented by the Administrator of NASA · US

Inventors

• James H. Neilan, II · Seaford, US
• Matthew K. Mahlin · Poquoson, US
• John R. Cooper · Woburn, US
• Laura M. White · Hampton, US
• Benjamin N. Kelley · Suffolk, US
• Matthew Vaughan · Hampton, US
• Iok M. Wong · Poquoson, US
• John W. Mulvaney · Yorktown, US
• Erik E. Komendera · Christiansburg, US
• William D. Chapin · Radford, US
• Joshua N. Moser · Blacksburg, US
• Samantha H. G. Chapin · Aquasco, US

Key dates

• Filing date: Sep 22, 2021
• Grant date: May 21, 2024
• Expiry date: Sep 8, 2042

Classification

• Technology area (CPC G): Physics
• CPC primary: G06N20/00
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

Methods and systems to control stacked hexapod platforms for use as tools, which function with both high accuracy and high precision are provided. In some embodiments, the methods and systems include a convergence of modern control theory, and machine learning. Furthermore, some embodiments provide control algorithms to carry out autonomous in-space assembly operations using assemblers. Some embodiments provide methods and systems which combine long-reach low precision manipulators and smaller, high-precision assembler with interchangeable tools.