一种可变形的模块化月球机器人桁架，能自适应展开与移动。
Modular Isoperimetric Soft Robotic Truss for Lunar Applications
- 用充气织物管和滚轮机构实现无额外气源的可变形状
- 展开后体积比可达1:18.3，12自由度太阳能板可360°旋转
- 适合月球长期任务，支持自重构与无人自主运行
我们提出一种大型轻量化、模块化且可重构的机器人系统，专为月球应用设计。该系统由连续充气织物管通过两个机器人滚轮单元和连接单元构成三角形桁架单元。新开发的球形关节允许最多三个三角形在顶点相连，突破单个正八面体结构限制。放气后，三角形压缩至滚轮单元体积大小，实现1:18.3的收纳-展开体积比。充气后，滚轮夹紧管体，局部降低弯曲刚度形成有效关节；电动机沿管体移动滚轮，通过等速延长一端、缩短另一端保持周长恒定（等周性），从而实现形变。整个过程无需额外压缩空气，初始充气后即可脱离供气源运行。我们展示了12自由度太阳能阵列，可实现最大60度倾角与360度扫掠；以及14自由度步滑式移动装置。该模块化、自适应系统为可持续月球作业及未来太空任务提供了新方案。
原文摘要 · Abstract (English)
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.
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