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

In-space and planetary surface assembly for human exploration is a challenging domain that encompasses various technological thrusts to support human missions. NASA is developing autonomous assembly agents to build structures like habitats and antennae on the Moon. These modular and reconfigurable Assembler robots will provide robotic assembly of structures, even in locations that prohibit constant human oversight and teleoperation.

Assemblers are a team of modular robots that work together to build things. 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. An end effector on each Assembler enables gripping, lifting, and welding/joining.

The Assemblers system...