Trigon robotic pairs

A. Scott Howe; Ian Gibson

doi:10.2514/6.2006-7407

Trigon robotic pairs

A. Scott Howe^*, Ian Gibson

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

Abstract

The Trigon modular robotic construction system consists of square or equilateral triangle panels that are able to grasp each other at edge points to affect self-assembly. The Trigon system can be used to construct a variety of stable geometries and structures for habitats and vehicles, including rovers, ISRU "cassette factories", and permanent base structures. Construction is accomplished by panel pairs that use each other to "tumble" across completed portions of the structure until they find their target positions. This paper discusses robotic pair kinematics and inverse kinematics, assembly sequences, and preliminary robot prototypes.

Original language	English
Title of host publication	Collection of Technical Papers
Subtitle of host publication	AIAA Space Conference, San Jose, California, 19-21 September 2006
Place of Publication	Reston, VA
Publisher	American Institute of Aeronautics and Astronautics
Pages	1979-1993
Number of pages	15
Volume	3
ISBN (Print)	9781563478246
DOIs	https://doi.org/10.2514/6.2006-7407
Publication status	Published - 2006
Externally published	Yes
Event	Space 2006 Conference - San Jose, CA, United States Duration: 19 Sept 2006 → 21 Sept 2006

Conference

Conference	Space 2006 Conference
Country/Territory	United States
City	San Jose, CA
Period	19/09/06 → 21/09/06

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Cite this

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title = "Trigon robotic pairs",

abstract = "The Trigon modular robotic construction system consists of square or equilateral triangle panels that are able to grasp each other at edge points to affect self-assembly. The Trigon system can be used to construct a variety of stable geometries and structures for habitats and vehicles, including rovers, ISRU {"}cassette factories{"}, and permanent base structures. Construction is accomplished by panel pairs that use each other to {"}tumble{"} across completed portions of the structure until they find their target positions. This paper discusses robotic pair kinematics and inverse kinematics, assembly sequences, and preliminary robot prototypes.",

author = "Howe, {A. Scott} and Ian Gibson",

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doi = "10.2514/6.2006-7407",

language = "English",

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AU - Gibson, Ian

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AB - The Trigon modular robotic construction system consists of square or equilateral triangle panels that are able to grasp each other at edge points to affect self-assembly. The Trigon system can be used to construct a variety of stable geometries and structures for habitats and vehicles, including rovers, ISRU "cassette factories", and permanent base structures. Construction is accomplished by panel pairs that use each other to "tumble" across completed portions of the structure until they find their target positions. This paper discusses robotic pair kinematics and inverse kinematics, assembly sequences, and preliminary robot prototypes.

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U2 - 10.2514/6.2006-7407

DO - 10.2514/6.2006-7407

M3 - Conference contribution

AN - SCOPUS:33846512397

SN - 9781563478246

VL - 3

SP - 1979

EP - 1993

BT - Collection of Technical Papers

PB - American Institute of Aeronautics and Astronautics

CY - Reston, VA

T2 - Space 2006 Conference

Y2 - 19 September 2006 through 21 September 2006

ER -

Trigon robotic pairs

Abstract

Conference

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