Modular and Reconfigurable Robots for Assembly of Structures: Teams of modular robots build structures in space, autonomously or with humans-in-the-loop.

Abstract

Each Assembler is a stack of one or more Stewart platforms, or hexapods, made up of two plates connected by six linear actuators for movement, enabling a full six-degree-of-freedom pose of the top plate relative to the bottom plate. The control system includes an important module for task management that estimates how many robots are needed, the optimal number of hexapods in each Assembler, and the estimated voltage needed. The novel control system directs the Assembler operations for high accuracy and precision, yet there is built-in dynamic resilience to failure.