Robotic Assembly and Reconfiguration of Modular Power Management and Distribution Systems

Abstract

In this paper, we describe the design and demonstration of robotic assembly and reconfiguration of a modular power generation, management, and delivery system that is integrated with a structural mechanical metamaterial. This modular mechanical metamaterial system consists of discrete building block units that, when assembled, provide a high-performance structural system. These periodic structures are well suited for autonomous assembly by relatively small and simple task-specific mobile robots. The re-usability, repairability, scalability, and extensibility of these systems makes them a suitable fit for space infrastructure applications.We discuss the system architecture and small-scale demonstration of a solar panel module. As the building block outfitted with a solar panel module is attached to the existing structure at the build front, the solar panel module forms a passively coupled orientation-independent electrical connection to neighboring solar panel modules. Separately, we demonstrated a small scale system where power is delivered to a payload via cabling installed by an autonomous robot. The autonomous robot routes the cable harness through the lattice structure and connects the cable harness to the solar array on one end, and to the payload on the other end of the structure. To demonstrate the solar panel system connections and robotic assembly, the lab used rapid prototyping materials and fabrication to build panels capable of delivering 157 W/m <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> on the Earth’s surface. Using modern fabrication techniques, the team estimates 230 W/m <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> is achievable on the Earth’s surface, even without gallium based cells.