The Trigon panel-based modular robotic construction system is described and flexibility for reconfiguration into a variety of surface infrastructure elements is explained. The Trigon system allows for a kit-of-parts approach to habitat construction and vehicle design, where all initial structure and vehicle configurations can later be disassembled or reconfigured for completely different requirements reusing the same modular primitives. The degree of modularity in a system can determine how flexible it is for reconfiguration and reuse. A system where the primary modular unit is equal to the maximum payload size will be reconfigurable with other units of its kind, but cannot be broken down any further. Breaking down the system into smaller identical primary modular units will allow each payload to reconfigure within itself, and insure economy of manufacture. All structures can be described as consisting of linear, planar, or solid geometry elements. The Trigon system takes a panel-based approach, where planar elements connect to each other edge-to-edge, and the capacity for self-assembly and material handling is endowed into each individual component. Panel elements can be assembled into a variety of stable shell structures, where additional fold-out structures can serve as mobility elements, hatches, tankage, and various forms of instrumentation and substructures. The robotic capacity of each panel will allow the structure to reconfigure into an entirely different function.
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