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.
The optimal Trigon panel edge size will depend on a variety of factors, including mechanism sizes, proposed panel payloads, shielding, dust control, and human factors. The Trigon system allows for a kit-of-parts approach to habitat construction and vehicle design. Trigon panels may be fitted with mobility systems and used to construct habitats, vehicles, ISRU "Cassette factories", and other permanent structures. This paper discusses panel size optimization with respect to these potential uses, introduces a spreadsheet model for multivariate data input, and describes a series of studies that have been conducted to determine the effect of variable world reference frame acceleration scenarios (surface gravities) on panel edge dimensions.
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