Self-assembly modular robot for in-space structure construction

Limited by the capacity of the rocket, it is not feasible to launch a large-scale structure into space in a single launch. Therefore, modular on-orbit assembly offers a solution that can effectively enable the scale expansion of in-space structures. Based on this concept, we have designed a hexagonal modular robot capable of autonomously performing construction tasks. The modular robot has the capability to flip across the assembled module and reach a pre-planned position. The rotation actuators are integrated along the robot's edges, serving as its feet to enable flipping locomotion. Meanwhile, to enhance the adaptability of the target structure, the modular robotic swarm exhibits the capability of structural morphology. Specifically, the modular robot is capable of locking and unlocking with adjacent modules. When the in-space structure undergoes shape reconfiguration, the modular robot transitions from a locked to an unlocked state and performs flipping locomotion to update its location. The proposed reconfigurable modular robotic swarm aims to address the large-scale requirements of in-space structure construction. The flipping locomotion of modular robots effectively facilitates the autonomous assembly process, and the deformable morphology of the in-space structure, provided by the reconfigurable robotic swarm, ensures adaptability to diverse mission scenarios.