Development of Mobility Robotics for Sustainable Space Exploration

Abstract

Space exploration missions often require the utilization of ultra-large space structures, which pose challenges in terms of launching their entirety due to limitations in payload mass and volume. To overcome this hurdle, the approach of dividing these structures into smaller components, known as voxels, has gained prominence. This division offers advantages such as reduced mass, volume, and cost, while also enhancing system reliability, maintenance efficiency, and resource optimization. The selection of an effective locomotion mechanism for voxel traversal is crucial in designing an automated robotic system for space assembly operations. Various locomotion methods, including wheeled, legged, tracked, modular, and soft mechanisms, have been analyzed for their suitability in navigating voxels within the context of space applications. The scissors and hook-latching mechanisms have been identified as effective and simple solutions within voxel and microgravity environments. The design of the voxel-traversing robot has undergone iterations, addressing limitations such as weight, rigidity, and voxel compatibility. Material selection, fabrication techniques, and motor upgrades have been implemented to improve the robot’s structural integrity, efficiency, and functionality. Future enhancements include further optimization of the scissor mechanism, incorporation of additional motors, exploration of modular functionality, and the development of secure mechanical latch systems for voxel attachment. The ongoing pursuit of advancements and innovations in robotics research and development for space exploration drives the continuous improvement of the voxel-traversing robot’s performance and capabilities.

Date of Award	Aug 2023
Original language	American English
Supervisor	Sean Swei (Supervisor)