Work

A High-Level Discrete Model for the Analysis of Robotic Assembly of Large-Scale Structures*

Year: 2025

Type: conference-paper

Abstract: As the size and mass of orbital structures increase, recent research into the testing and development of technology for assembling these large structures has led to the development of novel techniques. One such method involves walking robots and strategically placed logistical depots. This paper describes the development of a high-level discrete model with two distribution algorithms for the logistical depots and two competing assembly sequence planning strategies. The results show that the alteration of different variables and assembly strategies significantly influences assembly efficiency, with some assembly strategies specifically suiting certain metrics. It also appears that depot distribution has a more complex relationship with the optimisation of the assembly process.

Source: International Conference on Space Robotics (iSpaRo)

DOI: 10.1109/isparo66239.2025.11436316

Authors: George Burns, Lucy Berthoud, Arthur Richards

Institution: University of Bristol

Language: English

Topic: Modular Robots and Swarm Intelligence

Subfield: Mechanical Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: green

Funder: University of Bristol