Application of robots in the construction of the large-scale space truss is expected to be foundation for future space facilities. However, current configuration design of space truss mainly aims at manual operation instead of robotic operation. This paper proposes a modeling method for space trusses from the perspective of robotic construction, aiming to simplify the design, analysis, and automated construction planning of large-scale space trusses considering robotic operation. This method establishes an equivalence mapping between space trusses and mechanisms, treating truss structures as a specialized type of mechanism. Initially, the components and kinematic pairs of mechanisms are mapped to the truss cells and their connections based on their configuration characteristics. Subsequently, a substitution relation is derived that equates the degrees of freedom (DOF) of mechanisms and truss structures, verifying the rationality and rigor of this mapping. Finally, a DOF formula based on geometric partitioning is derived, and its significance for truss configuration synthesis and construction is discussed through various case studies. This research bridges the gap between space trusses and mechanisms, offering a novel perspective for studying space trusses through the lens of mechanical systems, and is helpful for the automatic design and construction of large-scale space trusses.
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