2007 Fiscal Year Final Research Report Summary
A Research on Structural Concept and Mechanical Characteristics of Hierarchical Modular Structure System
| Project/Area Number |
17360413
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Aerospace engineering
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| Research Institution | Japan Aerospace Exploration Agency |
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Principal Investigator |
HIGUCHI Ken Japan Aerospace Exploration Agency, Japan Aerospace Exploration Agency, Professor (60165090)
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| Co-Investigator(Kenkyū-buntansha) |
KISHIMOTO Naoko Japan Aerospace Exploration Agency, Institute of Space and Astronautical Science, 宇宙科学研究本部, Invited Engineer (60450714)
OKUIZUMI Nobukatsu Japan Aerospace Exploration Agency, Institute of Space and Astronautical Science, 宇宙科学研究本部, Assistant Professor (10321564)
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| Project Period (FY) |
2005 – 2007
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| Keywords | Space Structure / Structure Engineering / Geometry / Control Engineering / Modeling Technique / Hierarchical System / Modular Structure |
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| Research Abstract |
In this research, we propose a concept of hierarchical modular structure system and show the usefulness of the system for future structures corresponding to large or complicated structure system in extremity environment such as outer space. Concretely, we construct a first generation structure combining several identical module structures, and the several first generation structures form a next second generation structure. It is a basic concept of hierarchical modular structure system to form hierarchically keeping expanding over again, and the systematic technique based on geometric symmetry is presented. Furthermore, some control strategies using interaction between the modules in the hierarchical modular structure are examined, and we show the effectiveness with numerical calculation.
In addition, integrating the structure and the assembly robot, flexible automatic self-assembly system is proposed. We discuss the characteristics of the automatic self-assembly system, and show the algorithm regarding automatic operation plan of self-assembly process. The effectiveness is shown with the simulation treating the case where intended form is formed from some initial state with two dimensional hexagonal modules as example. In order to show the possibility of self-assembly space structure systems, we produce hardware models and provide actual basic operation.
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