Precision Assembled Space Structure (PASS)

Automated multi-agent assembly of a modular precision high stiffness 20 m telescope support structure including electrical connections. This technology is applicable to any hexagonal or triangular structural topology for applications such as fuel depots, radars, planetary surface shelters, etc. The Precision Assembled Space Structure (PASS) project will design, build, and demonstrate the hardware and software technologies for module autonomous assembly via a heterogenous set of robotic agents in a robust coordinated framework. PASS utilizes the new Multi-level Agile Cross-disciplinary Revolutionary Operations (MACRO) high bay facility at LaRC. Due to anticipated future space mission needs, a national strategy was created for In-Space Assembly (ISA) for which NASA has been identified as the lead government agency. A strategic goal of ISA is to support development of space-based infrastructure, which includes technology for reliable autonomous assembly of in-space structures. The NASA in-Space Assembled Telescopes (iSAT) study validated this motivation and provided base requirements for constructing large aperture telescopes in-space. To bring a feasible structural concept to the telescope design table, PASS will develop an efficient modular architecture and an autonomous robotic assembly method for large scale in-space assembled structures. This architecture will be based on hexagonal topologies composed of Tri-Truss modules that have been developed at NASA Langley Research Center (LaRC). The Tri-Trusses can be assembled to form precision doubly-curved surfaces, and the structures could contain reversible interfaces for disassembly and adjustments. PASS has selected a 20 m telescope backing truss concept derived from iSAT and the James Webb Telescope for the technology demonstration. The backing truss will be assembled in a laboratory environment in three phases, progressing from one to three distinct rings. Each phase will increase in size and complexity as robotic manipulators and structural features are added. Alongside the full-scale structural work, a reversible adhesive connection for will be demonstrated as an option for Tri-Truss stowage. A critical aspect of the demonstration will be the development of software operational concepts, accurate modeling, and validated protocols for multiple diverse robot arms in cluttered environments with time-varying obstacles. PASS will demonstrate that the autonomous assembly and structural systems are mutually compatible and mature, and that the structural design is well characterized. This validated approach can be directly applied to much larger persistent platform architectures that span hundreds of meters. The goal of PASS is to design, build, and ground demonstrate a modular architecture for autonomous end to end precision assembly of a 20 m class truss space structure. This work aligns with two NASA Technology Roadmap areas: TX10: Autonomous systems (10.1 Situational and self-awareness, 10.2 Reasoning and acting, and 10.4 Engineering and integrity) and TX12: Materials, structures, mechanical systems, and manufacturing (12.2 Structures, 12.3 Mechanical Systems, and 12.4 Manufacturing processes).

PASS seeks to increase confidence and trust in autonomous assembly as a viable approach to future modular space systems. The technology is directly applicable to any hexagonal or triangular structural topology (flat or curved) for applications such as fuel depots, radars, planetary surface shelters, etc. Future efforts building off of PASS can leverage the developed capabilities and seek to generalize the type and nature of assembled structures. PASS will provide verification and validation information on the TriTruss module structure, designed for in-space and surface construction operations. The devloped conops and software configurations are applicable to a wide range of on-orbit and surface construction tasks, provide a framework for autonomous multi-agent coordinated assembly of space structures, and stand-up a state of the art high bay testing facility at LaRC. The PASS project will develop and demonstrate a structural design and autonomous assembly method for a 20 m class telescope support structure. The structural shape is based on the in-Space Assembled Telescope (iSAT) study which details a 20 m telescope parabolic mirror formed of smaller truss units called Tri-Trusses. Leveraging decades of in-space assembly technology development, NASA Langley Research Center (LaRC) invented the innovative Tri-Truss building block structural module to enable construction of tessellated flat and doubly curved precision persistent platforms. Tri-Truss elements will be constructed of carbon fiber composite materials that are lightweight with low thermal expansion coefficient suitable for space applications. The autonomous assembly methodology seeks to enable assembly of the structure with minimal human interaction under normal conditions, with assembly algorithms incorporating data from the robotic assembly tools to make decisions about Tri-Truss alignment and fastening. A well-characterized, stiff, and precise structure that is demonstrably suitable for autonomous robotic assembly could provide a basis for future modular designs. A structure could be assembled in-space from these efficiently stowed elements, significantly deviated from the traditional method of deployable systems and can be supported by more than one space launch.

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