Scalable self-attaching/assembling robotic cluster (S2A2RC) system enabled by triboelectric sensors for in-orbit spacecraft application

With the rapid development of aerospace technology, super-large-scale space structures have become the preferred solution for major aerospace countries to carry out in-orbit missions. Therefore, a scalable self-attaching/assembling robotic cluster (S2A2RC) system which can realize the component-level in-orbit assembly task requirements of ultra-large-scale space truss structures is proposed in this paper. On this basis, a monitoring system with self-powered sensor based on the triboelectric nanogenerator (TENG) technology is proposed. The sensory system is used to monitor the crawling state of the robot, the grasping state of the manipulator, and the assembly state of the truss components during the in-orbit assembly process in real time. In conclusion, the S2A2RC system is proposed in this paper, with the noticeable advantages in terms of the multi-functionalities, the cost, the power consumption, the signal reliability, and the minimized data size. Meanwhile, the S2A2RC system shows great potential for many other large-scale spacecrafts. [Display omitted] •A robotic system is proposed for attaching and moving on the spacecraft, include a mobile system and an operating system.•The mobile system uses a six-legged moving mechanism, triboelectric robot leg sensors (TRLS) for detecting the slippage.•The operating system consists of a robotic manipulator, triboelectric robot manipulator sensors (TRMS) can detect the gripping.•Triboelectric space truss sensors (TSTS) are in charge of sensing the completed assembling of each truss.•The TENG sensors are evaluated under the extreme environment, including radiation, varied temperature, and vacuum.