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Harshit Suri

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

2 papers

1 author row

IROS Conference 2006 Conference Paper

System Design of Robots for Application to In-Space Assembly

Harshit Suri
Peter M. Will
Wei-Min Shen

This paper presents the design of an experimental system for assembly applications in space. The prototypical application is the assembly of mechanical trusses. The system used an air-hockey table to simulate a frictionless two-dimensional space. Assembly robots fly on the surface finding, gathering and assembling the relevant parts to perform the construction. The system design involved building the FIMER Robots, the test bed, the sensing system for position and velocity feedback and the control scheme. This paper describes the hardware and software used in the various sub-systems and includes calibrations and measurements and the results of experiments

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IROS Conference 2004 Conference Paper

A system for in-space assembly

Jacob Everist
Kasra Mogharei
Harshit Suri
Nadeesha Oliver Ranasinghe
Berok Khoshnevis
Peter M. Will
Wei-Min Shen

This paper presents an experimental system for assembly in space. A weightless and frictionless environment is approximated using an air-hockey table where robots and structural components can float on the surface. The robots use fan propulsion to dock with components and assemble them together to make 2D structures. This system is designed to implement three key technologies for space self-assembly: 1) intelligent components with universal connectors, 2) a set of self-reconfigurable robots that fetch and assemble components, and 3) a distributed method for controlling the robotic-assembly process. An overview of the system's design and experimental results is presented.

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