We introduce a large-scale robotic system designed as a lightweight, modular, and reconfigurable structure for lunar applications. The system consists of truss-like robotic triangles formed by continuous inflated fabric tubes routed through two robotic roller units and a connecting unit. A newly developed spherical joint enables up to three triangles to connect at a vertex, allowing construction of truss assemblies beyond a single octahedron. When deflated, the triangles compact to approximately the volume of the roller units, achieving a stowed-to-deployed volume ratio of 1:18.3. Upon inflation, the roller units pinch the tubes, locally reducing bending stiffness to form effective joints. Electric motors then translate the roller units along the tube, shifting the pinch point by lengthening one edge while shortening another at the same rate, thereby preserving a constant perimeter (isoperimetric). This shape-changing process requires no additional compressed air, enabling untethered operation after initial inflation. We demonstrate the system as a 12-degree-of-freedom solar array capable of tilting up to 60 degrees and sweeping 360 degrees, and as a 14-degree-of-freedom locomotion device using a step-and-slide gait. This modular, shape-adaptive system addresses key challenges for sustainable lunar operations and future space missions.

翻译：我们提出了一种用于月球应用的大规模机器人系统，该系统设计为轻质、模块化且可重构的结构。该系统由桁架式机器人三角形组成，这些三角形由连续充气织物管通过两个机器人滚轮单元和一个连接单元构成。新开发的球形关节允许最多三个三角形在顶点处连接，从而能够构建超越单个八面体的桁架组件。放气时，三角形可压缩至约滚轮单元的体积，实现1:18.3的收拢与展开体积比。充气后，滚轮单元夹紧管道，局部降低弯曲刚度以形成有效关节。随后，电机驱动滚轮单元沿管道移动，通过以相同速率延长一边同时缩短另一边来移动夹紧点，从而保持恒定周长（等周特性）。此形状变化过程无需额外压缩空气，可在初始充气后实现无缆操作。我们将该系统演示为具有12自由度的太阳能阵列，能够倾斜高达60度并实现360度扫掠；以及作为采用步进滑行步态的14自由度移动装置。该模块化、形状自适应系统为可持续月球作业和未来太空任务解决了关键挑战。