HIERARCHICAL SELF-ASSEMBLY PLANNING OF MODULAR STRUCTURE SYSTEMS

摘要

A self-assembly system is presented as automated assembly systems using homogeneous modules, in which robots for assembly and members of structures are combined. For the assembly of hierarchical modular structure systems, the hierarchical self-assembly planning using concept of meta-modules and process through intermediate configurations is proposed. It is formulated in a hierarchical expression, which corresponds to hierarchical modular concept for future space structure systems. Through numerical simulations, its effectiveness is demonstrated in terms of the percentage of success in self-assembly.