Autonomous Robotic Assembly for Planetary Missions: A Dual Arm LEGO Based Simulation Study

The capability of autonomous agents to assemble, repair, and reconfigure other robotic systemsisacriticalneedforsustainablespaceroboticsoperations. Inthiswork,wepresenta simulation-based framework that prototypes a dual-arm assembly station designed to construct modular robotic systems. We use LEGO blocks as geometric and functional proxies for standardizedelectromechanicalmodules. Theimplementationusestwosevendegreeoffreedom armsthatperformcoordinated,perception-drivenmanipulationinasharedworkspace. The system integrates RGB-D perception using open-source computer vision tools, dual-arm kinematics,andatask-levelcontrollooptoperformprecisecouplingofcomponents. Simulation results show reliable module detection and consistent pick-and-place alignment in a physics- based environment configured for lunar and Martian gravity. By validating these fundamental manipulation capabilities under reduced gravity, this framework serves as a preliminary proof ofconceptforautonomousroboticmanufactureandmaintenancearchitecturesintendedfor futuresurface missions.