Long-Reach Robotic Manipulation for Assembly and Outfitting of Lunar Structures

2026-03-30

AI Summary

This study addresses the challenge of achieving high-precision manipulation over large workspaces for lunar surface assembly tasks, where conventional robotic arms struggle to simultaneously provide long reach and fine control. To overcome this limitation, the authors propose a compact, long-reach manipulator integrated with a deployable composite arm, applied here for the first time to lunar electrical assembly operations. By developing dynamic models capturing arm deflection, vibration, and deployment behavior, and by designing corresponding vibration suppression and high-precision trajectory tracking control strategies, the system effectively mitigates dynamic uncertainties inherent in flexible structures. Experimental results demonstrate an average end-effector positioning error of less than 15 mm over a 1.8-meter reach, and successful cable routing was achieved, validating the feasibility of the proposed approach for long-distance, precision assembly on the lunar surface.

Abstract

Future infrastructure construction on the lunar surface will require semi- or fully-autonomous operation from robots deployed at the build site. In particular, tasks such as electrical outfitting necessitate transport, routing, and fine manipulation of cables across large structures. To address this need, we present a compact and long-reach manipulator incorporating a deployable composite boom, capable of performing manipulation tasks across large structures and workspaces. We characterize the deflection, vibration, and blossoming characteristics inherent to the deployable structure, and present a manipulation control strategy to mitigate these effects. Experiments indicate an average endpoint accuracy error of less than 15 mm for boom lengths up to 1.8 m. We demonstrate the approach with a cable routing task to illustrate the potential for lunar outfitting applications that benefit from long reach.

Problem

• long-reach manipulation
• lunar construction
• cable routing
• deployable boom
• robotic outfitting

Innovation

• long-reach manipulation
• deployable composite boom
• lunar robotic assembly
• vibration mitigation
• precision control