Advancing Large Space Structure Assembly: Insights from Earth.
- Paper ID
97083
- DOI
- author
- company
The University of Bristol; University of Bristol
- country
United Kingdom
- year
2025
- abstract
Current space technology does not yet have suitable methods for assembling Large-Scale Space Structures (LSS), such as Space-Based Solar Power (SBSP) stations. Current research in the area has focused on smaller assemblies, such as large space telescopes. However, such methods will struggle to support larger assemblies due to computational scaling and the ability of the system to determine the state of the assembly (world state). This paper reviews the state-of-the-art assembly planning and modelling in space and on Earth. Literature has identified and categorised three types of assembly problems: assembly sequence planning, assembly line balancing and assembly path planning. However, the constraints and cost drivers for LSS assembly differ strongly from terrestrial cases. For example, prefabricated construction requires a human insight during the final assembly and research has investigated the feasibility of using robotics for this final stage. Sources state that currently, robotic platforms cannot suit the complexity needed for complete fabrication as the final plug-in stage requires attention that robotic platforms cannot provide. The LSS case is not cleanly divided into the three assembly problems. A new paradigm needs to be constructed so that LSS assembly can occur. Newer, novel techniques, such as abstractive and surrogate modelling, are explored and shown to excel in the space environment. Finally, this paper suggests a hierarchical abstractive layered approach to the LSS assembly problem with an accurate and computable model of the entire assembly process, while addressing possible future constraints and assumptions. This model provides a more precise description of the system's ‘world state’, a topic often overlooked by other researchers. The first layer developed is the geometric layer, the initial plan for where modules interface such that a required geometry can be achieved. Secondly, a layer is added that deals with the local operation of robots to accomplish a specific task, which varies in application. In SBSP, this controls multiple robots picking and placing parts from a logistical depot. Lastly, a third layer is developed in which individual control of a robot is processed, which could be done by integrating the kinematics of the robot or using a path planning optimisation technique. For each layer, a new or existing control schemes are discussed and explored based on their ability to interface with different layers and the dynamic environment of LSS assembly.