MR CLAW: Magneto-Rheological Capture, Locomotion, Anchoring, and Workholding

MR CLAW is a Magneto-Rheological Capture, Anchoring, Locomotion, and Workholding robotic grasping mechanism, proposed by Altius Space Machines in partnership with the University of Maryland, which is focused on Tracks 2 and 3 of the Orbital Prime solicitation. MR CLAW combines a two-fingered mechanical grasping mechanism with a pair of Magneto-Rheological (MR) jamming grippers that are magnetically actuated using Electro-Permanent Magnets (EPMs). When the EPMs are in their degaussed state, the MR jamming grippers are compliant, and able to conform to complex surface geometries by pinching the two grasper fingers together. When the EPMs are magnetized, they cause the MR jamming media in the grippers to rigidize, locking the mechanism and allowing for the gripper to react forces and torques. MR CLAW can be used for the following applications: Capturing: free-flying grappling of an unprepared space objects to enable servicing, recycling, or disposal. Locomotion: servicers with two or more MR CLAW equipped arms can climb from one place on a space object to another without having to let go and recapture the object. This can be particularly important for recycling or repurposing large space objects. Anchoring: using one or more MR CLAW graspers to form a long-term, rigid mechanical connection between a component or modular platform and an unprepared space object. This can allow providing life extension or upgrades to unprepared clients, or attaching a disposal kit to a space object to deorbit it. Workholding: temporarily grasping tools, components, or other objects for servicing or assembly activities. Some of the key benefits of the MR CLAW grasper system compared to traditional mechanical graspers include: Universal Grasping: MR CLAW enables satellites performing OSAM activities to grasp objects of nearly any surface geometry, without requiring a priori knowledge of the object's shape. Distributed Grasping Loads: MR CLAW's jamming grippers avoid concentrated grasping/crushing loads that are typical from purely mechanical graspers. This minimizes the risk of damaging the object being grasped or creating dangerous untrackable but potentially lethal secondary debris. No-Power Hold: EPMs only take power to change states (from ON to OFF or vice versa), enabling MR CLAW to maintain a grasp indefinitely without requiring steady input power. The MR CLAW team discussed this concept with officials in the USSF who are considered potential customers for this effort. In Phase I, Altius will work with these USSF stakeholders, as well as NASA, and commercial customers to identify and prioritize applications, develop one or more representative reference missions, derive MR CLAW system requirements, experiment with the underlying EPM actuated MR jamming gripper technology, and refine a conceptual design for MR CLAW. This will enable Altius and UMD in Phase II to develop and functionally test a high-fidelity flight-like MR CLAW grasper in simulated space environments.