Abstract

This thesis presents two advances in isoperimetric soft robotic trusses that improve their performance, modularity, and configurability. The first contribution introduces a large-scale modular robotic truss designed as a lightweight, reconfigurable structure for lunar applications. The system consists of inflatable fabric tubes routed through motorized roller units and interconnected by a newly developed spherical joint that enables multiple robotic triangles to connect at a common vertex. The resulting truss can be assembled into structures beyond a single octahedron while retaining compact stowage when deflated and untethered operation after initial inflation. Experimental validation demonstrates modular assembly, long-term pressure retention, load-bearing capabilities exceeding three times the robot's weight, and shape-changing behaviors including extension, twisting, tilting, sweeping, and locomotion. The second contribution investigates a reduced-member architecture in which multiple discrete triangular members are replaced by continuous inflatable tubes. This approach allows edge length to be redistributed throughout the entire structure, expanding the robot's workspace, and enables the construction of previously unattainable structures, thereby increasing the set of realizable geometries. An experimental study characterizes the torsional loading introduced by multi-plane deformation, demonstrating an approximately linear relationship between twist angle and resisting torque over the tested range. Comparison with the conventional discrete-triangle architecture shows that the reduced-member approach improves reconfigurability but reduces load-bearing capacity. Together, these contributions advance the design of scalable, reconfigurable isoperimetric soft robotic trusses for future space and terrestrial applications.

Degree

College and Department

Ira A. Fulton College of Engineering; Mechanical Engineering

Rights

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