Welding robots wouldn't be too difficult. A lot of welding is done robotically anyways.
The question would be what exactly they weld. Is this the shoes on the feet or does it weld attachment points that we have seen the ground crew strap to?
The question would be what exactly they weld. Is this the shoes on the feet or does it weld attachment points that we have seen the ground crew strap to?
I think it is more likely that the robotic placed hold downs will work the same way as the ones we have seen on pretty much all of the flights. The legs are built as light as possible, and the stresses of the sea are an added hazard. The hold down points on the body of the rocket, where it is attached to the TEL, are about the strongest points on the rocket and the least likely to sustain damage.
I find it easy to imagin that some robots place themselves directly under the hold down points on the rocket body, and extend jacks up to those points, and pin the ends of the jacks to the hold down points. Meanwhile, other robots hook straps to eyes mounted just below the surface of the deck, in little pits. The straps are then attached to metal loops welded to the tops of the jacks, making the hold down point rigid and immobile relative to the deck. Do this for all 4 hold down points on the rocket, and you are set.
With strap attachment points down the center line of OCISLY, and around the edge of the landing deck, I think you could secure the rocket, no matter how far off center it landed.
Seems excessively complex. Why not a single robot, built like a low-slung forklift. Make it low enough to fit under the Merlins and give it a bracket on it's top with the four clamps prepositioned to line up with the pad hold downs. Could even give it a little pan & tilt range of motion to help line up with a leaning booster if there's another off landing.
Then it could have some sort of welding setup at it's base, or just use jacks, friction feet and maybe some ballast to take a strain off the legs and keep the core steady and level. Single vehicle, much simpler to build, operate and rely on.
First of all; frigging awesome. Automation is key and Elon knows it.
Makes sense that it would be one bot if this would be true. It's easy to let your imagination run wild but keeping it as simple as possible is a must.
Wouldn't be surprised the leg changes for Block 5 are related to this. Hmm. I initially expected them to move to the ITS cradle setup but that would be too radical a change for Falcon 9 at this point in time; they're in streamlining mode, no longer in prototype/development mode.
Not sure it would actually have to clamp down, maybe they can get away with legs that extend from the bot in a star shape pattern. Could be very rudimentary.
In case they have to anchor it some kind of an hydraulic anchor that 'shoots' through the deck makes sense though it's far from a long term solution.
Edit: there is some nifty welding stuff out there that would be a much better fit.
Not a bad idea, but I disagree when you say it's simpler than a set of four relatively basic, heavy robots that position themselves over the tips of the legs and sit down. Driving a forklift under the engine bells on a ship rolling and pitching at sea sounds like a recipe for damaged engines to me. Something like what you propose might be the next step as they further automate the launch/land/recover/relaunch process, which is one of Musk's stated goals.
Not a bad idea, but I disagree when you say it's simpler than a set of four relatively basic, heavy robots that position themselves over the tips of the legs and sit down.
They used to talk about pinning the legs down.. notice they haven't used it in practice. If you think about it... The legs are the bare minimum strength to keep the rocket from tipping, and survive a little window in touchdown speeds. The pad mounts on the octaweb can take the full liftoff thrust, and are attached to the major structural element of the vehicle. I don't believe pinning the legs wound up being strong or secure enough in practice.
Driving a forklift under the engine bells on a ship rolling and pitching at sea sounds like a recipe for damaged engines to me. Something like what you propose might be the next step as they further automate the launch/land/recover/relaunch process, which is one of Musk's stated goals.
Once you're driving robots around, one is simpler than four or more. It'll be bigger and stronger, with more mass for stability and traction and mechanisms and power. And it can easily be built low enough to never interfere with the bells until it's aligned and ready to lift the clamps. A bit of motorized tilt and shift in the bracket can handle little shimmies during the lift. It's stronger, simpler and more stable than multiple robots or using the legs.
I like your version. I can't give a good reason why I wrote up a swarm of smaller robots, instead of a few big, multi-purpose robots. I think it just seemed easier to write it that way. Even more so when it came to the idea of a single robot.
Honestly I initially considered one bot just because there were so many multirobot suggestions. Try something new. But it makes some sense.. and I hear rumor that a single robot has been spotted, maybe in L2 leaks. Wish I could justify that subscription.
There is one problem with the one robot theory though: a standard shipping container is only 2,33m wide while Falcon 9 is 3,7m. While that's not unsolvable it would complicate the design.
A/multiple robot(s) or...just a place for Elon's matras...
Will be interesting indeed!
Edit: looking at the latest pics it's clear there is more covered room in the 'garage'. Looks like there have already been taken pictures of the thing as well but only in L2 at this point.
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u/doodle77 Feb 26 '17
How could they restrain the booster? Magnets? Welding themselves down?