SpRoUTS (Space Robot Universal Truss System)

The stated goal of this research is, generally, the robotic assembly of discrete lattice structures for space applications. Broadly, this can be divided into three areas of focus: the robots, the materials, and the applications. Each of these areas can leverage prior art, but also essentially constitute a novel technology or methodology—new types of robots, new material systems, and new space structures. Within each area, sub-topics define research objectives and challenges. These include: -Robots: design, actuation, prototyping, controls, experiments. -Materials: analytical description, manufacturing, characterization. -Applications: con-ops/mission architectures, simulations, performative metrics. Several types of robots were designed, fabricated, and tested, including tests in a relevant environment on a sub-orbital parabolic flight. In addition to basic functions such as locomotion, end effectors were developed to allow the manipulation, placement, and fastening of structural, building block units. Building block material systems were developed, manufactured, and characterized. These include large scale (>100mm) parts, to make meso-scale (>1m) structures, as well as small scale (<1cm) parts to make small scale (<10cm) scale structures. Materials used included high modulus CFRP (both unidirectional pultruded tubes and quasi-isotropic multi-ply laminate sheet), as well as aerospace-grade metallic alloys (stainless steel, titanium). Space structures were designed, described analytically, and numerically simulated. Hierarchical design methods were applied to large, tetrahedral dishes with applications as substructure for precision dishes and aerobrakes, each with varying requirements and parameters. Infrastructure, habitats, and vehicles were designed and prototyped. Launch vehicle payloads were described to show packing efficiency benefits of a discretely assembled structure. In terms of contribution to state of the art, highlights include the following: highest specific ultralight modulus material to date, meter-scale reconfigurable structures, and self-localizing mobile robots for precision assembly processes. Taken as a whole, this presents a new method for the realization of large, high performance space structures, and can allow for on-orbit and exoplanet manufacturing to accelerate the progress of space exploration.