Keywords

Robotics, Soft Robotics, Space Robotics

Abstract

We introduce a robotic system designed to function as a lightweight, modular, and reconfigurable structure on the Moon. This robust system consists of truss-like robotic triangles, each formed by a continuous inflated fabric tube routed through two robotic roller units and a connecting unit. When deflated, these triangles can be compacted to roughly the volume of the roller units, offering an advantageous stowed-to-deployed volume ratio of 1 to 6.24. Upon inflation, the roller units pinch the tubes, creating corners by reducing the bending stiffness of the tube. Once fully deployed, electric motors move the robotic roller units along the tube, shifting the pinch point and altering the shape of the triangle by lengthening one edge while shortening another. Notably, this shape-changing process does not require additional compressed air, allowing the robot to operate untethered after the initial inflation. Beyond its deployable design optimized for space transportation, the robot's versatile design allows it to function as a configurable structure, such as a solar array, a crane, or a locomotion device, providing essential support for lunar missions. By offering adaptability and efficiency, this system addresses critical challenges in establishing sustainable operations on the Moon and advancing future space missions.

Document Type

Peer-Reviewed Article

Publication Date

2025-05-09

Language

English

College

Ira A. Fulton College of Engineering and Technology

Department

Mechanical Engineering

University Standing at Time of Publication

Assistant Professor

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