| Title: |
Co-design Robots and Structures Framework for Automated Construction of Modular Space Platforms |
| Authors: |
Rognant, Mathieu; Albore, Alexandre; Piet, Nicolas; Julien, Cédric |
| Contributors: |
DTIS, ONERA, Université de Toulouse Toulouse; ONERA-Communauté d'universités et établissements de Toulouse (Comue de Toulouse); DMAS, ONERA, Université Paris Saclay Châtillon; ONERA-Université Paris-Saclay; PRF ASTROLABE |
| Source: |
IWPSS - International Workshops on Planning and Scheduling for Space ; https://hal.science/hal-05477531 ; IWPSS - International Workshops on Planning and Scheduling for Space, Apr 2025, Toulouse, France ; https://sites.google.com/view/iwpss/home |
| Publisher Information: |
CCSD |
| Publication Year: |
2025 |
| Subject Terms: |
eléments finis; structure; robot; plannification; co-design; [PHYS]Physics [physics]; [CHIM]Chemical Sciences; [MATH]Mathematics [math]; [SPI]Engineering Sciences [physics] |
| Subject Geographic: |
Toulouse; France |
| Description: |
International audience ; Large-scale space structures have taken center stage as the future of space exploration, paving the way for ambitious endeavors like sprawling solar power stations, intricate telescopes, and giant space stations. This program lies not in manual assembly, but in empowering space robots to autonomously build these structures using plans provided by dedicated on-orbit assembly planning algorithms.In this paper, we describe an approach to large-scale space structure assembly frameworks, keeping in mind the many benefits associated with the use of autonomous crawling mobile robots.Our research presents a model of a large-scale deployable structure, along with its physical constraints, and a corresponding assembly approach. Initially, all building elements (beams and nodes) are stored in the launcher fairing. These will be deployed to form the structure on which the robots themselves will evolve until the final configuration is reached.The proposed concept considers a structure made up of truss beams with standard interfaces at their ends and attachment nodes, also equipped with standard interfaces, supporting a payload such as a solar panel or a deployable antenna. Assembly is performed by crawling robots, which are autonomous systems that adhere to or grip the structure and move around it. However, the robot's plan, spacecraft's actuators, and payload structure should be carefully co-designed to ensure manageable and stable dynamics.Therefore, we represent the assembling problem as an automated planning instance, where several structural constraints dictate the actions available for execution, and their application is constrained in time to avoid introducing dynamic forces that compromise stability and pointing accuracy.This model and its associated tools help to illustrate the feasibility of the approach and the benefits of having AI tools for autonomous assembly robots in space. |
| Document Type: |
conference object |
| Language: |
English |
| Availability: |
https://hal.science/hal-05477531 |
| Accession Number: |
edsbas.481D1565 |
| Database: |
BASE |