# Design and Simulation of On-Orbit Assembly System Based on Insect-Inspired Transportation
## 1 Introduction  
The research on space structures characterized by traits such as lightweight, high stability, and large scale has witnessed substantial growth owing to the rapid advancement of deep space exploration, crewed spaceflight, satellite communication, and other technologies among spacefaring nations worldwide. As a rising space power, many countries are actively participating in this field of research [1; 2; 3]. Modular in-orbit assembly of large structures is an effective method for resolving the launch mission of large structural bodies as the volume of transportation tools, such as rockets, is relatively small [4; 5; 6]. However, the current research on deployable structures cannot satisfy the development needs of future large or even ultra-large space structures in terms of mass, deployment aperture, and vibration characteristics. In-orbit assembly has become a research focus in the field of space technology in recent years [7; 8]. Since the 1970s, major spacefaring nations have been researching the key technologies for the in-orbit assembly of large space structures, including the in-orbit assembly of the International Space Station and the use of modular units to construct large antenna systems for communication satellites [9; 10; 11; 12; 13; 14]. Space science programs, Earth science programs, and human space exploration programs all require large space structures. The scale of space structures, such as large aperture space telescopes, kilometer-scale solar power platforms, and antennas with diameters exceeding 100 m, is huge [15; 16]. In order to overcome the constraints posed by rocket launch vehicles and enable cost-effective and efficient in-orbit assembly of sizable space structures, it becomes imperative to employ foldable structures as supporting frameworks for the trusses of these expansive constructs. Consequently, a subsequent task involves executing the in-orbit assembly of modular units in a highly efficient manner within the confines of space [17; 18; 19]. However, the research on in-orbit assembly of large space structures is still in the exploratory stage both domestically and internationally. Although there are many studieson large deployable antennas, tension-based deployment mechanisms, and space-scale deployable mechanisms, the envelope diameter of current deployment mechanisms cannot meet the requirements of large-scale structure projects [20; 21; 22; 23]. Therefore, it is crucial and necessary to conduct research on the design and simulation analysis of space deployable units for in-orbit assembly, which not only provides theoretical guidance for the in-orbit assembly of large space telescopes, solar power stations, and antennas, but also promotes the development of space technology and human progress [24; 25; 26]. NASA has made significant achievements in this field through its latest research, as evidenced by its successful experiment on satellite module self-assembly using space robots, demonstrating the potential of these robots to construct large structures [27]. The core module \"Tianhe\" of the Chinese space station is equipped with a 7-degrees-of-freedom redundant robotic arm, which consists of three wrist joints, three shoulder joints, and one elbow joint. This robotic arm is capable of autonomously assisting astronauts in performing in-orbit operations or maintenance tasks outside the capsule [28]. In-orbit assembly technology is a key research direction in future space exploration, but it presents challenges such as manufacturing large-scale structures, suppressing vibrations, and flexible assembly in space environments. To tackle these issues, multiple robot systems have been proposed to address the challenges of manufacturing large-scale structures [29; 30]. Recent research has been focused on methods such as machine vision, bio-inspired algorithms, and reinforced learning, which have been investigated in assembly sequence planning, motion planning, and assembly methods.