SBIR-STTR Award

GreyPilgrim LLC has patented and developed a long-reach manipulator that combines modular components in a reconfigurable, flexible, lightweight design suitable for a wide variety of commercial and government applications. We have demonstrated 8?, 15?, and 33? implementations of the modular EMMA? robotic arm technology under DOE Hanford contracts for use in retrieving nuclear waste from deteriorating underground storage tanks. The arm is also being developed with Boeing for aerospace manufacturing processes such as cleaning, depainting, and inspection of aircraft. Much of these R&D efforts have taken place under the auspices of a CRADA between GreyPilgrim LLC and the National Institute of Standards and Technology (NIST), where an open-architecture control system is being incorporated into the EMMA controller. The proposed multi-use manufacturing manipulator (MUMM) is similar in many respects to versions of EMMA already demonstrated. GreyPilgrim is therefore able to offer substantially greater progress than is normally possible with a Phase I SBIR contract. Proposed Phase I research will focus upon system modularity, portability, and flexibility requirements, deployment scenarios, and arm/tool integration. In Phase II a working prototype will be built and tested.

GreyPilgrim LLC has patented and developed a long-reach manipulator that combines modular components in a reconfigurable, flexible, lightweight design suitable for a wide variety of commercial and government applications. GreyPilgrim has previously built 8-foot, 15-foot, and 33-foot implementations of the modular EMMA(tm) robotic arm technology under Department of Energy (DOE) Hanford contracts. These systems demonstrated the technology's suitability for use in retrieving nuclear waste from deteriorating underground storage tanks. GreyPilgrim LLC was recently awarded contracts to design two 50-foot manipulator systems for delivery to the Fernald, Ohio DOE site. The arm is also being developed with the Air Force and Boeing for aerospace maintenance processes such as cleaning, depainting, and inspection of aircraft. The proposed multi-use manufacturing manipulator (MUMM) demonstration in this Phase II effort will focus upon system modularity, portability, flexibility requirements, deployment options, and arm/tool integration. GreyPilgrim has teamed with Bath Iron Works (BIW) to demonstrate the EMMA-based MUMM system's capability performing blasting operations as part of the proposed Phase II demonstration.

Benefits:
This research is expected to result in a reliable, cost-effective system capable of a wide variety of manufacturing tasks, including but not limited to cutting, fitting, welding, cleaning, blasting, painting, gluing, and inspection. This system has the potential to lower the costs associated with double-hull ship manufacturing processes, increase manufacturing productivity through automation and mechanization of operations, reduce cycle time and increase production throughput, and reduce the costs associated with maintaining worker safety. Commercial applications include assembly, maintenance, and manufacturing processes associated with tankers and cruise ships, airplane surface preparation operations such as washing, scuff sanding and depainting, hazardous waste retrieval, petroleum and petro-chemical tank cleaning.

Keywords:
robotic arm automated construction open architecture control teleoperative machinery long-reach manipulator manufacturing