The Built On-orbit Robotically assembled Gigatruss (BORG) concept is focused on testing autonomous robotic operations for assembling a hybrid truss structure consisting of deployed and strut-assembled elements. This mixed assembly approach combines the quick assembly time of a deployable structure with the small launch volume of a piece-by-piece assembly system.
The assembly uses a checkerboard scheme with deployable units connecting at corners and completing the structure with close-out elements to reduce strut redundancy. This approach will be tested at FASER by creating a 3 × 3 × 3 unit truss structure. Each deployable structure will be a cube 3 m on a side, resulting in a cubic truss 9 m on a side. The number of modules and dimensions used in this demonstration were chosen arbitrarily, as the design is scalable to any number of modules and dimensions.
For this construction, the BORG cube will be assembled by a team of heterogeneous robots. The DM unit will be used for precision manipulation and support of the structure throughout the assembly processes. The DM will be outfitted as an EE on the LRM, which provides gross movement capability. With a repeated assembly scheme, additional layers in every direction can be added to construct a larger free-standing BORG truss with no additional complexity.
The assembly uses a checkerboard scheme with deployable units connecting at corners and completing the structure with close-out elements to reduce strut redundancy. This approach will be tested at FASER by creating a 3 × 3 × 3 unit truss structure. Each deployable structure will be a cube 3 m on a side, resulting in a cubic truss 9 m on a side. The number of modules and dimensions used in this demonstration were chosen arbitrarily, as the design is scalable to any number of modules and dimensions.
For this construction, the BORG cube will be assembled by a team of heterogeneous robots. The DM unit will be used for precision manipulation and support of the structure throughout the assembly processes. The DM will be outfitted as an EE on the LRM, which provides gross movement capability. With a repeated assembly scheme, additional layers in every direction can be added to construct a larger free-standing BORG truss with no additional complexity.
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