A Modular, Adaptive, Coiled Deployable Boom System for Programmable Assembly

Autonomous in-space assembly systems support deep space exploration and sustained presence in space by enabling the development of large-scale infrastructure. Assembled mechanical metamaterials are a promising technology for space applications due to their low mass density with high mechanical performance. Previous building block based material and structure designs include monolithic units and numerous styles of composition. Component geometry such as strut-and-node designs have been investigated for their high packing efficiency in launch vehicles. Deployable building blocks provide a new paradigm for increased packing efficiency during transport. In this paper, we explore a novel deployable building block design using coiled deployable booms. Coiled deployable boom technology is used extensively in space structures for their lightweight properties and low power requirements. They are compact in the stowed configuration and have a high stiffness to mass ratio when deployed. We present the design and performance characterization of a deployable, adaptive, structural building block for assembled metamaterial systems. The building block is designed with tape springs that serve as the strut members between attachment nodes. This building block design has a high packing efficiency for transport, tunable strut design for custom interfaces and mechanisms, and allows for efficient repair of areas deep inside a structural volume, providing a highly adaptive system for assembly, maintenance, and reconfiguration. The structural performance of the building block is analytically estimated then evaluated with physical experiments, and two folding configurations of the building block prototype are demonstrated. A discussion of lessons learned and future design recommendations is also presented. This system of adaptive structural modules for robotic assembly aims to enable complex assembled structures and space infrastructure.