Compact Integrated Sensing and Control of Magnetic Gear for End Effectors Suitable for Extreme Environments

An identified need exists for lightweight, low-volume, and low-power actuation solutions with compact integrated sensing approaches to create end-effectors capable of robust fine dexterity for human-hand-like tasks and tool/interface manipulation that are for environmental extremes. Magnetic gear technology is recognized by NASA (through the Motors for Dusty and Extremely Cold Environments Game Changing Development project) to be capable of achieving attractive specific torque, efficiency, and lifetime for future lunar missions. This proposal aims to leverage the spring-like behavior of magnetic gears to demonstrate integrated, compact, and accurate direct torque and position sensing using only two low cost encoders, and to experimentally validate the critical function of torque-feedback in achieving impedance control targets. While the physical demonstrator is created and tested and the control and sensing approach is validated, the team will simultaneously create an end effector model will be created by the target infusion application (robot arm) and in Phase II the team will test the integrated system. The funding will be used for prototype fabrication and labor for testing and modeling. The immediate target market is an end-effector for in-space satellite capture, but the scalable magnetic gear can be integrated to create an end-effectors for dual-use applications ranging from intravehicular, lunar surface, and in-space servicing tasks such as assembly, maintenance, and outfitting; installation, stowage, and handling of cables and fluid lines; manipulation of soft goods; sample collection in extreme environmental conditions, particularly cryogenic conditions; science utilization such as moving samples between cold storage and instruments, small and logistics management. This technology can also be used terrestrially or in low earth orbit to target semiconductor, pharmaceutical, beauty and personal care, and food and nutrients manufacturing industries.