A strut-and-node truss design that is applicable to space frame structure designs can be assembled with using robotic (semi-autonomous and/or fully autonomous) or telerobotic assembly/joining. The assembly system can include a storage module that includes the components for assembly and an assembly module that can retrieve and assembly the components. The resulting truss structure can be connected to an antenna (e.g., carried by the storage module) for deployment. The assembly module can be operated repeatedly in conjunction with additional resupply systems that provide additional components for assembly.