This study focused on the hierarchical modular approach to assembling space structures, which can be scaled up to increasingly larger sizes. This approach is based on dividing a large space structure into multiple modules, each with homogeneous automatic assembly functions. Hence, the overall structure can have diverse shapes and functions depending on the arrangement of modules, regardless of the size of the structure. Conventional approaches use locomotion and docking/release mechanisms installed on each module, but have been limited to 2-D shapes. In this study, a mechanism was developed that uses permanent magnets and electromagnets to assemble the space structure into any shape in three dimensions. The response surface method and downhill simplex method were used to optimize the size and arrangement of the magnets for efficient locomotion. The proposed mechanism was applied to a demonstration experiment to evaluate its effectiveness compared with existing methods.

这项研究的重点是用于组装空间结构的分层模块化方法，该方法可以扩展为越来越大的尺寸。该方法基于将大型空间结构划分为多个模块，每个模块均具有同类的自动组装功能。因此，取决于模块的布置，整体结构可以具有各种形状和功能，而与结构的尺寸无关。传统方法使用安装在每个模块上的移动和对接/释放机制，但仅限于二维形状。在这项研究中，开发了一种机制，该机制使用永磁体和电磁体将空间结构组装成三维的任何形状。使用响应面法和下坡单纯形法来优化磁体的尺寸和布置，以实现有效的运动。