Low-Gravity Robotic Arm System (L-GRAS)

Motiv proposes to enable the continued search for lifes origins through the development of an extremely lightweight manipulation system used for scientific sampling. The L-GRAS accomplishes this by preserving precious mass required to reach remote destinations and delivering robustness to the harsh environments, which are becoming more preferential for scientific interest. Motiv intendsto leverage the lessons learned during Phase I of the L-GRAS effort to a) architect a lightweight, extreme environment manipulation system which can be augmented with end-effectors befitting of the destination and b) advance the TRL of the system via prototyping and testing of the robotic system in Phase II. Several technological advances manifest themselves within L-GRAS and differentiate the system from prior robotic architectures. Examples of these technologies are specialized actuation seals to protect against dust and contamination incursion, cryogenic operable motor control avionics which inherently reduce mass and power needs, light weighted actuators, and modular flex arrangements to easily allow scalability of the system Motiv proposes to enable the continued search for life’s origins through the development of an extremely lightweight manipulation system used for scientific sampling. The L-GRAS accomplishes this by preserving precious mass required to reach remote destinations and delivering robustness to the anticipated harsh environments of study. Motiv intends to leverage the lessons learned during Phase I of the L-GRAS effort to a) architect a lightweight, extreme environment manipulation system which can be augmented with end-effectors befitting of the destination and b) advance the TRL of the system via prototyping and testing of the robotic system in Phase II. Several technological advances manifest themselves within L-GRAS and differentiate the system from prior robotic architectures. Examples of these technologies are specialized actuation seals to protect against dust and contamination incursion, cryogenic operable motor control avionics which inherently reduce mass and power needs, light weighted actuators, and modular flex arrangements to easily allow scalability of the system Motiv has divided the proposed technical objectives into three primary areas as follows: Design the L-GRAS Robotic Arm System Fabricate and assemble L-GRAS technology elements (i.e. actuators, controllers, structure, flex) Test and demonstrate L-GRAS sub-system function and feasibility for TRL advancement Proposed Deliverables: Final Report One (1) L-GRAS prototype actuator One (1) L-GRAS prototype controller Work Plan: 1. L-GRAS Engineering and System Design - Inclusive of complete system design, motor controller development, actuator design, and test planning. 2. L-GRAS Elements Fabrication and Assembly - Inclusive of prototype controller assembly, actuator fabrication and assembly, GSE hardware fabrication. 3. L-GRAS Sub-System Tests - Inclusive of actuator dynamometer testing, integrated flat-sat testing, sub-system level testing offloaded on air-bearing table for actuator controllability tests, and flex evaluation testing.
Benefits: The L-GRAS architecture offers scalability for a variety of potential NASA applications. Discovery and New Frontiers destinations interested in pursuing remote sampling on small moons, comets, and asteroids are now addressable. Missions which intend to land on celestial systems with fractional or microgravity environments best leverage the proportional mass savings and controllability to execute delicate sample transfer operations. Lastly, L-GRAS enables small Mars mobility platforms intended to support remote science or fetch operations. Commercialization of access and regular missions to the Moon are underway. With repeated future successes of landings on the Moon, scientific sampling missions will grow in demand through CLPS. The L-GRAS presents as a critical tool to support lunar science efforts. Additionally, manufacturing and outfitting tasks which are rooted in ISRU developments will also benefit from L-GRAS scalability.