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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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18 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS2011

Design of a Robotic Ankle Joint for a Microspine-Based Robot

Successful robotic exploration of near-Earth asteroids necessitates a method of securely anchoring to the surface of these bodies without gravitational assistance. Microspine grip- per arrays that can grasp rock faces are a potential solution to this problem. A key component of a future microspine-based rover will be the ankle used to attach each microspine gripper to the robot. The ankle's purpose is twofold: 1) to allow the gripper to conform to the rock so a higher percentage of microspines attach to the surface, and 2) to neutralize torques that may dislodge the grippers from the wall. Parts were developed using computer aided design and manufactured using a variety of methods including selective laser sintering, CNC milling, and traditional manual machining techniques. Upon completion of the final prototype, the gripper and ankle system was tested to demonstrate robotic engagement and disengagement of the gripper and to determine load bearing ability. The immediate application of this project is to out t the Lemur IIb robot so it can climb and hang from rock walls.

Near-Earth objects↗
NASA NTRS2016

Microspine Gripping Mechanism for Asteroid Capture

This paper details the development and early testing of a compliant suspension for a microspine gripper device for asteroid capture or micro-gravity percussive drilling. The microspine gripper architecture is reviewed, and a proposed microspine suspension design is presented and discussed. Prototyping methods are discussed, as well as testing methods and results. A path forward is identified from the results of the testing completed thus far. Key findings include: the microspine concept has been established as a valid architecture and the compliant suspension exhibits the desired stiffness characteristics for good gripping behavior. These developments will aid in developing the capability to grasp irregularly shaped boulders in micro-gravity.

Merriam, Ezekiel G.↗
NASA NTRS2016

Microspine Gripping Mechanism for Asteroid Capture

This paper details the development and early testing of a compliant suspension for a microspine gripper device for asteroid capture or zero-gravity percussive drilling. The microspine gripper architecture is reviewed, and a proposed microspine suspension design is presented and discussed. Prototyping methods are discussed, as well as testing methods and results. A path forward is identified from the results of the testing completed thus far. Key findings include: the microspine concept has been established as a valid architecture and the compliant suspension exhibits the desired stiffness characteristics for good gripping behavior. These developments will aid in developing the capability to grasp irregularly shaped boulders in microgravity.

Merriam, Ezekiel G.↗
NASA NTRS2012

Curb Mounting, Vertical Mobility, and Inverted Mobility on Rough Surfaces Using Microspine-Enabled Robots

Three robots that extend microspine technology to enable advanced mobility are presented. First, the Durable Reconnaissance and Observation Platform (DROP) and the ReconRobotics Scout platform use a new rotary configuration of microspines to provide improved soldier-portable reconnaissance by moving rapidly over curbs and obstacles, transitioning from horizontal to vertical surfaces, climbing rough walls and surviving impacts. Next, the four-legged LEMUR robot uses new configurations of opposed microspines to anchor to both manmade and natural rough surfaces. Using these anchors as feet enables mobility in unstructured environments, from urban disaster areas to deserts and caves.

microspines↗
NASA NTRS2012

Demonstrations of Gravity-Independent Mobility and Drilling on Natural Rock using Microspines

The video presents microspine-based anchors be ing developed for gripping rocks on the surfaces of comets and asteroids, or for use on cliff faces and lava tubes on Mars. Two types of anchor prototypes are shown on supporting forces in all directions away from the rock; >160 N tangent, >150 N at 45?, and >180 N normal to the surface of the rock. A compliant robotic ankle with two active degrees of freedom interfaces these anchors to the Lemur IIB robot for future climbing trials. Finally, a rotary percussive drill is shown coring into rock regardless of gravitational orientation. As a harder- than-zero-g proof of concept, inverted drilling was performed creating 20mm diameter boreholes 83 mm deep in vesicular basalt samples while retaining 12 mm diameter rock cores in 3-6 pieces.

microspine anchors↗
NASA NTRS2012

Gravity-Independent Mobility and Drilling on Natural Rock using Microspines

To grip rocks on the surfaces of asteroids and comets, and to grip the cliff faces and lava tubes of Mars, a 250 mm diameter omni-directional anchor is presented that utilizes a hierarchical array of claws with suspension flexures, called microspines, to create fast, strong attachment. Prototypes have been demonstrated on vesicular basalt and a'a lava rock supporting forces in all directions away from the rock. Each anchor can support >160 N tangent, >150 N at 45?, and >180 N normal to the surface of the rock. A two-actuator selectively- compliant ankle interfaces these anchors to the Lemur IIB robot for climbing trials. A rotary percussive drill was also integrated into the anchor, demonstrating self-contained rock coring regardless of gravitational orientation. As a harder- than-zero-g proof of concept, 20mm diameter boreholes were drilled 83 mm deep in vesicular basalt samples, retaining a 12 mm diameter rock core in 3-6 pieces while in an inverted configuration, literally drilling into the ceiling.

climbing mechanisms↗
NASA NTRS2013

Robotic Ankle for Omnidirectional Rock Anchors

Future robotic exploration of near-Earth asteroids and the vertical and inverted rock walls of lava caves and cliff faces on Mars and other planetary bodies would require a method of gripping their rocky surfaces to allow mobility without gravitational assistance. In order to successfully navigate this terrain and drill for samples, the grippers must be able to produce anchoring forces in excess of 100 N. Additionally, the grippers must be able to support the inertial forces of a moving robot, as well gravitational forces for demonstrations on Earth. One possible solution would be to use microspine arrays to anchor to rock surfaces and provide the necessary load-bearing abilities for robotic exploration of asteroids. Microspine arrays comprise dozens of small steel hooks supported on individual suspensions. When these arrays are dragged along a rock surface, the steel hooks engage with asperities and holes on the surface. The suspensions allow for individual hooks to engage with asperities while the remaining hooks continue to drag along the surface. This ensures that the maximum possible number of hooks engage with the surface, thereby increasing the load-bearing abilities of the gripper. Using the microspine array grippers described above as the end-effectors of a robot would allow it to traverse terrain previously unreachable by traditional wheeled robots. Furthermore, microspine-gripping robots that can perch on cliffs or rocky walls could enable a new class of persistent surveillance devices for military applications. In order to interface these microspine grippers with a legged robot, an ankle is needed that can robotically actuate the gripper, as well as allow it to conform to the large-scale irregularities in the rock. The anchor serves three main purposes: deploy and release the anchor, conform to roughness or misalignment with the surface, and cancel out any moments about the anchor that could cause unintentional detachment. The ankle design contains a rotary DC motor that can drag the microspine arrays across the surface to engage them with asperities, as well as a linear actuator to disengage the hooks from the surface. Additionally, the ankle allows the gripper to rotate freely about all three axes so that when the robot takes a step, the gripper may optimally orient itself with respect to the wall or ground. Finally, the ankle contains some minimal elasticity, so that between steps, the gripper returns to a default position that is roughly parallel to the wall.

Parness, Aaron↗
NASA NTRS2015

Terrain Traversing Device Having a Wheel with Microhooks

A terrain traversing device is described. The device includes an annular rotor element with a plurality of co-planar microspine hooks arranged on the periphery of the annular rotor element. Each microspine hook has an independently flexible suspension configuration that permits the microspine hook to initially engage an irregularity in a terrain surface at a preset initial engagement angle and subsequently engage the irregularity with a continuously varying engagement angle when the annular rotor element is rotated for urging the terrain traversing device to traverse a terrain surface. Improvements related to the design, fabrication and use of the microspine hooks in the device are also described.

Parness, Aaron↗
NASA NTRS2013

Microgravity Drill and Anchor System

This work is a method to drill into a rock surface regardless of the gravitational field or orientation. The required weight-on-bit (WOB) is supplied by a self-contained anchoring mechanism. The system includes a rotary percussive coring drill, forming a complete sampling instrument usable by robot or human. This method of in situ sample acquisition using micro - spine anchoring technology enables several NASA mission concepts not currently possible with existing technology, including sampling from consolidated rock on asteroids, providing a bolt network for astronauts visiting a near-Earth asteroid, and sampling from the ceilings or vertical walls of lava tubes and cliff faces on Mars. One of the most fundamental parameters of drilling is the WOB; essentially, the load applied to the bit that allows it to cut, creating a reaction force normal to the surface. In every drilling application, there is a minimum WOB that must be maintained for the system to function properly. In microgravity (asteroids and comets), even a small WOB could not be supported conventionally by the weight of the robot or astronaut. An anchoring mechanism would be needed to resist the reactions, or the robot or astronaut would push themselves off the surface and into space. The ability of the system to anchor itself to a surface creates potential applications that reach beyond use in low gravity. The use of these anchoring mechanisms as end effectors on climbing robots has the potential of vastly expanding the scope of what is considered accessible terrain. Further, because the drill is supported by its own anchor rather than by a robotic arm, the workspace is not constrained by the reach of such an arm. Yet, if the drill is on a robotic arm, it has the benefit of not reflecting the forces of drilling back to the arm s joints. Combining the drill with the anchoring feet will create a highly mobile, highly stable, and highly reliable system. The drilling system s anchor uses hundreds of microspine toes that independently find holes and ledges on a rock to create an anchor. Once the system is anchored, a linear translation mechanism moves the drill axially into the surface while maintaining the proper WOB. The linear translation mechanism is composed of a ball screw and stepper motor that can translate a carriage with high precision and applied load. The carriage slides along rails using self-aligning linear bearings that correct any axial misalignment caused by bending and torsion. The carriage then compresses a series of springs that simultaneously transmit the load to the drill along the bit axis and act as a suspension that compensates for the vibration caused by percussive drilling. The drill is a compacted, modified version of an off-the-shelf rotary percussive drill, which uses a custom carbide-tipped coring bit. By using rotary percussive drilling, the drill time is greatly reduced. The percussive action fractures the rock debris, which is removed during rotation. The final result is a 0.75-in. (.1.9- cm) diameter hole and a preserved 0.5- in. (.1.3-cm) diameter rock core. This work extends microspine technology, making it applicable to astronaut missions to asteroids and a host of robotic sampling concepts. At the time of this reporting, it is the first instrument to be demonstrated using microspine anchors, and is the first self-contained drill/anchor system to be demonstrated that is capable of drilling in inverted configurations and would be capable of drilling in microgravity.

Parness, Aaron↗
NASA NTRS2014

Terrain Traversing Device Having a Wheel with Microhooks

A terrain traversing device includes an annular rotor element with a plurality of co-planar microspine hooks arranged on the periphery of the annular rotor element. Each microspine hook has an independently flexible suspension configuration that permits the microspine hook to initially engage an irregularity in a terrain surface at a preset initial engagement angle and subsequently engage the irregularity with a continuously varying engagement angle when the annular rotor element is rotated for urging the terrain traversing device to traverse a terrain surface.

Parness, Aaron↗
NASA NTRS2012

Material Testing for Robotic Omnidirectional Anchor

To successfully explore near-Earth Asteroids the question of mobility emerges as the key issue for any robotic mission. When small bodies have extremely low escape velocities, traditional methods, such as wheels, would send the robot hurtling off of the asteroid's surface. To solve this problem, JPL has developed an omni-directional anchoring mechanism for use in microgravity that utilizes microspine technology. These microspines are placed in circular arrays with 16 independent carriages biasing the surface of the rock. The asperities in the surface allow the gripper to hold nearly 150N in all directions. While the gripper has been proven successful on consolidated rocks, it had yet to be tested on a variety of other surfaces that are suspected to separate the large boulders on an asteroid. Since asteroid surfaces vary widely, from friable rocks to lose ponds of regolith, the gripper was tested in a large variety of materials such as, bonded pumice, sand, gravel, and loose rocks. The forces are applied tangent, at 45 degrees, and normal to the surface of the material. The immediate results from this experiment will give insight into the gripper's effectiveness across the wide spectrum of materials found on asteroids.

Near-Earth Asteroids (NEOs)↗
NASA NTRS2012

D.R.O.P. The Durable Reconnaissance and Observation Platform

The Durable Reconnaissance and Observation Platform (DROP) is a prototype robotic platform with the ability to climb concrete surfaces up to 85deg at a rate of 25cm/s, make rapid horizontal to vertical transitions, carry an audio/visual reconnaissance payload, and survive impacts from 3 meters. DROP is manufactured using a combination of selective laser sintering (SLS) and shape deposition manufacturing (SDM) techniques. The platform uses a two-wheel, two-motor design that delivers high mobility with low complexity. DROP extends microspine climbing technology from linear to rotary applications, providing improved transition ability, increased speeds, and simpler body mechanics while maintaining microspines ability to opportunistically grip rough surfaces. Various aspects of prototype design and performance are discussed, including the climbing mechanism, body design, and impact survival.

climbing mechanisms↗
NASA NTRS2011

D.R.O.P: The Durable Reconnaissance and Observation Platform

Robots can provide a remote presence in areas that are either inaccessible or too dangerous for humans. However, robots are often limited by their ability to adapt to the terrain or resist environmental factors. The Durable Reconnaissance and Observation Platform (DROP) is a lightweight robot that addresses these challenges with the capability to survive falls from significant heights, carry a useable payload, and traverse a variety of surfaces, including climbing vertical surfaces like wood, stone, and concrete. DROP is manufactured using a combination of rapid prototyping and shape deposition manufacturing. It uses microspine technology to create a new wheel-like design for vertical climbing. To date, DROP has successfully engaged several vertical surfaces, hanging statically without assistance, and traversed horizontal surfaces at approximately 30 cm/s. Unassisted vertical climbing is capable on surfaces up to 85deg at a rate of approximately 25cm*s(sup -1). DROP can also survive falls from up to 3 meters and has the ability to be thrown off of and onto rooftops. Future efforts will focus on improving the microspine wheels, selecting more resilient materials, customizing the controls, and performing more rigorous and quantifiable testing.

Durable Reconnaissance and Observation Platform (D↗
NASA NTRS2020

Design and Testing of an Ultra-Light Weight Perching System for Sloped or Vertical Rough Surfaces on Mars

In this paper, we present the design, characterization, and functional demonstration of a perching system that enables a flying vehicle to land on rough sloped or vertical surfaces. Steep slopes are of particular scientific interest since they are often associated with geologically interesting features including sites of active modification (e.g. landslides/avalanches, slope streaks), exposed bedrock and/or ice, and as-yet unmodified young features (e.g. walls of fresh craters or polar pits that are actively expanding). However the steep nature of these sites makes access with traditional field robots difficult: ground vehicles are unable to traverse the steep terrain and aerial vehicles are limited by their flight time and an ability to operate near terrain. We propose to address these limitation by enabling the UAV to reliably perch on steep terrain to perform in situ measurements and collect samples. Perching also enables a solar powered UAV to traverse large terrain features such as the Valles Marineris that could not be covered in a single flight by repeatedly perching and recharging its batteries. The proposed perching system that is being developed consists of a microspine gripper, a compliant gripper to vehicle interface, and a flying vehicle equipped with an autonomy sensor suite. The system also includes perception and control algorithms that identify perching targets and execute the required perching maneuver. To date, the majority of the effort has focused on developing and characterizing the microspine gripper. The initial prototype weighs 100 g, is capable of securely grasping a range of natural surfaces, and successful grasps support loads of over 10 N. Refinement of the gripper, integrating and testing it on a UAV, measuring aerodynamic distrubances from wall effects, and developing the required perception and control algorithms is ongoing. This paper describes the overall architecture of our proposed system, the design of the gripper, and its performance during initial testing.

Backus, Spencer↗
NASA NTRS2014

Boulder Capture System Design Options for the Asteroid Robotic Redirect Mission Alternate Approach Trade Study

This paper presents a boulder acquisition and asteroid surface interaction electromechanical concept developed for the Asteroid Robotic Redirect Mission (ARRM) option to capture a free standing boulder on the surface of a 100 m or larger Near Earth Asteroid (NEA). It details the down select process and ranking of potential boulder capture methods, the evolution of a simple yet elegant articulating spaceframe, and ongoing risk reduction and concept refinement efforts. The capture system configuration leverages the spaceframe, heritage manipulators, and a new microspine technology to enable the ARRM boulder capture. While at the NEA it enables attenuation of terminal descent velocity, ascent to escape velocity, boulder collection and restraint. After departure from the NEA it enables, robotic inspection, sample caching, and crew Extra Vehicular Activities (EVA).

Belbin, Scott P.↗
NASA NTRS2017

The LEMUR 3 Limbed Climbing Robot

This paper introduces a new four-limbed robot, LEMUR 3, that has demonstrated climbing on cliff faces and smooth glass. Each limb on the robot consists of seven identical actuators in a serial chain. Each limb terminates in a single axis force sensor that allows various end effectors to be mounted and connected to the robot’s power and communication system. Microspine grippers were used for climbing the rocky surface and gecko adhesive grippers were used for the glass solar panels. All other hardware and much of the software was common for the two demonstrations. The robot’s mechanical, electrical, and software systems, various gripping devices, and field demonstrations are described. Limbed mobility is of interest to JPL and NASA because of its potential to access extreme terrain, including that on Mars and in microgravity environments.

Kennedy, Brett↗