Trigon robotic pairs

Abstract

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.