Robotic Testbeds for Emulation of In-Space Assembly and Manufacturing of Advanced Structural Systems

Abstract

Tensegrity structures, characterized by axially loaded mechanical structures, offer promising solutions for space engineering due to their lightweight and resilient nature. This article explores the groundbreaking frontier of the autonomous assembly of tensegrity plates in space using robotic platforms, presenting a detailed emulation of the capture and assembly process of two large tensegrity cubic plates into a single, larger rectangular plate. The study employed two robotic platforms: the Holonomic Omnidirectional Motion Emulation Robot (HOMER), emulating the assembly robot, and the Space Motion and Operation Dynamic Emulator (SMODE), replicating the dynamics of a runaway tensegrity plate. The assembly robot utilized a monocular camera and vision algorithms to obtain relative pose measurements of the drifting plate, updating its position through a Kalman filter relative navigation algorithm. The assembly process was structured into distinct phases, including search, approach, alignment, capture, and return, all executed successfully within a simulated ground environment mimicking space dynamics. This research demonstrates the feasibility and efficacy of robotic platforms for on-orbit assembly of tensegrity structures, paving the way for innovative space infrastructure development and enhanced mission efficiency.