Modular Isoperimetric Soft Robotic Truss for Lunar Applications

TL;DR

This paper presents a modular, inflatable robotic truss system for lunar applications that can reconfigure and adapt its shape without external power, enabling versatile structures like solar arrays and locomotion devices.

Contribution

The development of a lightweight, reconfigurable inflatable robotic truss with novel spherical joints and shape-changing capabilities for lunar and space use.

Findings

Achieved a high stowed-to-deployed volume ratio of 1:18.3.

Demonstrated a solar array with 12 degrees of freedom and 60-degree tilt.

Created a 14-degree-of-freedom locomotion device with step-and-slide gait.

Abstract

We introduce a large-scale robotic system designed as a lightweight, modular, and reconfigurable structure for lunar applications. The system consists of truss-like robotic triangles formed by continuous inflated fabric tubes routed through two robotic roller units and a connecting unit. A newly developed spherical joint enables up to three triangles to connect at a vertex, allowing construction of truss assemblies beyond a single octahedron. When deflated, the triangles compact to approximately the volume of the roller units, achieving a stowed-to-deployed volume ratio of 1:18.3. Upon inflation, the roller units pinch the tubes, locally reducing bending stiffness to form effective joints. Electric motors then translate the roller units along the tube, shifting the pinch point by lengthening one edge while shortening another at the same rate, thereby preserving a constant perimeter (isoperimetric). This shape-changing process requires no additional compressed air, enabling untethered operation after initial inflation. We demonstrate the system as a 12-degree-of-freedom solar array capable of tilting up to 60 degrees and sweeping 360 degrees, and as a 14-degree-of-freedom locomotion device using a step-and-slide gait. This modular, shape-adaptive system addresses key challenges for sustainable lunar operations and future space missions.