Robotic Actuators for Cryogenic Environments (RACE)

Motiv Space Systems (Motiv) is proposing the Robotic Actuator for Cryogenic Environments (RACE) to address the growing need for precision, high specific-torque robotic arm actuators to operate in low-gravity, extreme temperature environments like that of icy moons or ocean worlds with a premium placed on low energy usage. RACE is a novel approach to cryogenic actuators that is easily scalable and modular by design. RACE leverages Motiv’s work developing planetary gearboxes with the Distributed Extreme Environments Drive System (DEEDS) program and will implement a single-pass cycloidal reducer as the output stage. RACE is a heater-free, BMG-based actuator with a small cycloidal output stage driven by a brushless DC gearmotor. Construction of the motor and gearbox is based on that developed for the Cold Operable Lunar Deployable Arm (COLDArm). Both COLDArm and DEEDS feature BMG components to enable operation at -180C, and both programs introduced BMG elements as “drop-in” substitutions for mechanism components typically made of standard materials comprising Motiv’s designs. Motiv is thus in a unique and exceptional position to develop and compare the performance of established flight heritage designs to more leading-edge approaches offered by incorporating the BMG components. Additionally, Motiv’s understanding of robotic systems from development and performance standpoints deeply informs the trade-space when introducing new advances such as the proposed innovation.