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    • Conceptual Study on Inflatable Tensegrity Module for Large Scale Space Structures and its Robotic Assembly

    Paper number

    IAC-05-D1.1.01

    Author

    Mr. Satoshi Murata, Tokyo Institute of Technology, Japan

    Coauthor

    Prof. Hiroshi Furuya, Tokyo Institute of Technology, Japan

    Coauthor

    Mr. Daisuke Jodoi, Tokyo Institute of Technology, Japan

    Coauthor

    Mr. Keiki Takadama, Tokyo Institute of Technology, Japan

    Coauthor

    Mr. Yuzuru Terada, Tokyo Institute of Technology, Japan

    Year

    2005

    Abstract
    A concept of inflatable tensegrity module and the robotic assembly are proposed for future large space structure systems in this paper.

 In recent years, many space missions require larger space structure for various applications. The International Space Station (ISS) now under construction is one of such structure, which construction is totally dependent on dangerous Extra Vehicular Activity (EVA) of astronauts. The necessity of automatic assembly technique is obvious for larger structure such as a Solar Power Satellite (SPS).
 So far, number of concepts and system configurations for SPS have been proposed, however, most of them are just conceptual in the sense that there is no consideration on how to build them. Only NASA’s “Reference System [1] ”, mentioned detailed construction process in early studies.

 On the basis of recent progress in material science and space robotics, we propose a novel method of constructing SPS based on inflatable modules and automatic assembly by robots.
In our design, SPS is realized as an assembly of structure modules. Each module is a hexagonal shaped tensegrity structure that spans a solar cell membrane or reflection membrane by inflating tubes in the module. It also has automatic connection mechanism to combine them. Manipulator robots launched together with the modules connect them to build a huge planer structure. The whole system is carefully designed to simplify the assembling task of space manipulator robots and also to reduce the total complexity of the modules and the robots. 
In order to examine the feasibility of proposed concept, the following aspects are evaluated.
1) Structural analysis of the tensegrity module, especially the bending stiffness of the planar structure made of many modules is evaluated. It will be one of the most important features for SPS application.
2) Scaled prototype module is designed and actually made to evaluate storage efficient packaging, automatic assembly by robots, and deployment of inflatable tubes. 
3) Realistic assembly scenario based on existing Japanese space infrastructure such as H-IIA rockets and Kibo-Platform on the ISS is proposed.
    Abstract document

    IAC-05-D1.1.01.pdf

    Manuscript document

    IAC-05-D1.1.01.pdf (🔒 authorized access only).

    To get the manuscript, please contact IAF Secretariat.