Robotic Assembly and Outfitting for NASA Space Missions

NASA is turning to the 3D modeling experts in the community for ideas and designs to use or enhance the current state of modular robotic construction techniques.

Robotic building of structures in space is an active area of research for NASA and might prove to be a path towards sustainable and scalable space exploration. This technology is essential for establishing critical long-term orbital and Lunar surface infrastructure including power/communication towers, research stations, radiation shielding for habitats, and more.

NASA Robotic Assembly Projects (TLT, ARMADAS, PASS)

Recent efforts within NASA’s Robotic Assembly Community (e.g., ARMADAS, PASS, TLT, VSAT) have developed modular structural elements and multi-agent robot systems for building complex lightweight structures, telescope array backbones, and tall towers in space. The teams have demonstrated the potential of these construction methods by building various structures with assembly agents ranging in complexity from astronaut assembly to teleoperated robotic arms to fully autonomous multi-agent systems. These structures will need to be outfitted (i.e., sub-system integration) for functionality, including power, data, fluid, gas, and other utility lines, solar panels, insulation blankets, other functional modules, and more.

The long-term goal is to have a robust and growing tool kit of structural units, functional modules, and robotic agents to help build the future of space exploration.

The Challenge:
Equipped with a set of basic building blocks and robotic agents, participants are challenged to accomplish the following tasks (chose one or both areas to focus on):

1. Mission Concept Design (High Level Concepts)

a. Use the provided modules and any robotic agents to design and CAD model a system to support any of the 4 NASA Thrusts, Moon 2 Mars objectives, or any far-out space mission using a robotically assembled building block approach.

b. Describe the basic Concept of Operations (ConOps) needed to accomplish construction of the system in part A.

2. Assembly/Outfitting System Technology Development (Detailed Designs)

a. Using the provided modules and any robotic agents, develop designs to increase the feasibility of robotically outfitting non-structural elements throughout the modules. Participants may choose either:

i. Demonstrate methods for robotically routing/connecting utility lines (e.g., electrical, data, fluid, or gas) through the provided modules.

ii. Develop new functional elements (e.g., surface interfaces, joints, mechanisms) to enhance assembly/outfitting of the provided modules.

The challenge is left intentionally broad to encourage participants to think big and creatively! The bigger and crazier the concepts, the better. The more detailed and feasible, the better!

Assumptions:
- A reliable logistic supply system of building materials is available wherever your ConOps is based.
- Mission design can consider various starting scenarios such as: earth launch, LEO supply station for structures, or ISRU capability implemented on lunar surface.
- A multitude of robotic agents of various types and their support infrastructure are available wherever your ConOps is based.
- The co-design of structure, robotic agents, and outfitting capability can be leveraged to greatly reduce the robotic complexity and increase reliability of a system.
- Low mass and volume are essential qualities for effective space systems.
- Participants will be able to choose to start from a blank slate to design a system or leverage existing robotics/structures work within NASA to accomplish their task.

References:
NASA Thrusts

Deliverables:
1. Mission Concept Design: Any CAD Models relevant explanations and analysis on design choices.
2. Assembly/Outfitting System Technology Development: CAD Models and any relevant explanations and analysis on design choices.

Background:
How can we efficiently assemble and outfit science- and exploration-enabling structures like power systems and radiation shields on the Moon and Mars, interplanetary transit vehicles, or the next generation of large diameter observatories? How do we ensure all the functional utilities (e.g., power, communication, fluids, etc.) are safely and effectively routed within those structures, and are there modular techniques for doing so that would enable maintenance, repair, and upgrades?

NASA is working on autonomous assembly and construction of sustainable modular space infrastructure. The agency has developed various high performance structural modules that can be robotically assembled to create different types of structures. It is envisioned that these building blocks would serve as a framework and ecosystem that can be applied towards different mission needs.

To add functionality and capability to a structural system, non-structural elements are needed to “outfit” a structure, meaning the capability to robotically provide utility connections, add new types of functional modules to a system is crucial to enabling a system of diverse capabilities. These assembly systems can typically be separated into 4 sub-systems; the modular structures, the assembly agents, the control system, and the outfitting system. Co-design of these systems together enable a high performing integrated construction system.

Major subsystems of a robotic construction system

Structural Modules:
The are many types of structural modules that can be utilized to assemble a structure, participants are encouraged to use any of the example unit cell structures provided below, scaled to any size, as a starting point for their work. They may also choose to modify the unit cells to enable new capabilities or design new ones. Modules can be updated for better packing/handling/assembly/versatility, modified connection points or joining methods for robotic agents, etc. Participants must justify changes in mass, system complexity, etc. against the baseline design for the challenge and explain why the modified design is more effective for completing the assembly and outfitting tasks of this challenge.

Robotic Agents:
Many types of robotic agents have been designed to assemble structures, and they all have their use cases, advantages, and disadvantages. You can assume for this exercise that the infrastructure is in place to support operations of these agents but should justify and explain their operations.

Control System:
The control systems consist of autonomous algorithms and software to help control multi-agent systems and adapt to changing conditions. It is not in the scope of this challenge.

Outfitting System:
The current generation of robots excel at building modular structures current generation of robots excel at building modular structures from a basic set of components but do not have the capability to add the wiring or conduits that will need to be installed to outfit the structures for operational use. When supplied with a set of basic building blocks, specialized robotic agents can autonomously assemble large structures. Currently the ARMADAS project has developed inchworm type robots for installing cables, and the PASS project has developed algorithms for routing cables using serial manipulators and soft continuum robots.

Now the challenge is to demonstrate the installation of modular electrical connections and piping for utilities like fluids and gases using robotic manipulators. Cabling and piping should follow the same modular architecture where a basic set of components can be installed and connected to transport electricity, data, fluids, and gases using robotic systems. Installation of new functional modules that add capabilities such as interfacing with uneven terrain, connection of payloads, paneling to a system will also need to be developed. Simple and effective connection points will be a key feature in that they must be robust and allow robotic connections. Submitters can focus on the individual components that can be installed and connected robotically or they can focus on the robotic system that installs them.

An example design reference mission for outfitting could be a tower with vertical solar arrays on the Lunar surface. After the tower is constructed from modular structural elements, electrical power cables must be routed to the panels so the energy can be distributed.

Example kit of modular structures and outfitting elements

Additional References:
For reference, NASA has developed a set of technology shortfalls that need to be addressed to allow for a long-term human presence on the Moon and Mars. In the shortfall details, see examples below:
1. ID 1540 (Intelligent Robots for the Servicing, Assembly, and Outfitting of In-Space Assets and Industrial-Scale Surface Infrastructure)
2. ID 513 (Robotic Assembly and Construction of Modular Systems for Sustained In-Space Infrastructure)
3. ID 617 (On-surface robotic assembly of vertical structures)
4. ID 1400 (On-surface robotic assembly of horizontal structures)
5. ID 1480 (On-surface Outfitting of Lunar Structures)

Note these shortfalls are in early development and will likely change often.

Example application of robotic assembly used to create Lunar surface infrastructure

Intellectual Property:
The Government is seeking a full government purpose usage license from monetary prize winners for further development of the concept. It is hoped that the winning concepts can be included in a follow-on effort to advance modular construction technology in support of future Artemis missions.

Copyright Stipulations:
- All material (including the CAD model itself and all written documents) must be free of any copyright restrictions.
- Use only models, photos, or images created during the project unless you have obtained the right from the copyright owner for unrestricted use – do not blindly copy images from internet websites.
- Images on .gov websites are often (but not always) public data; check before assuming.
- Include documentation of any usage permissions

CAD Files for Download:
CAD Files Zip

Project Owner(s):

Greenfield Trinh, Co-Project Manager
NASA Ames Research Center

Jessica Friz, Co-Project Manager
NASA Langley Research Center