Robotic Arm Force Torque Sensing System (RAFTSS)

Motiv Space Systems (Motiv) proposes a novel, space-rated, load sensing system that will enable the next generation of space-borne robotic end effectors:nbsp; The Robotic Arm Force Sensor Torque Sensing System (RAFTSS).nbsp;Because the RAFTSS is designed with robotic, space-based applications as the primary application, it will advance the current state of the art in on-orbit servicing, assembly, and manufacturing.nbsp; The novel solutions in the RAFTSS systemnbsp;includes:Wide-Range 6-Degree-of-Freedom (W6D) FTS.nbsp; This sensor can be conceptually thought of as the ldquo;wristrdquo; sensor. It can sense a broad range of imparted loads incurred during servicing and contact/capture operations (tens to hundreds of Newtons) with overload capabilities of 100 times the sensing range.nbsp;Point of Application (POA) 3-DOF load sensors.nbsp; These sensors can be thought of as the ldquo;fingertiprdquo; sensors of RAFTSS that are integrated directly into a tool or end effector gripper.nbsp; Their load sensing ranges and axes can be tailor designed to directly measure minute loads imparted by delicate servicing operations or low mass payload acquisition operations (tens of Newtons).Co-located electronics that not only condition the RAFTSS signals, but also processes and resolves the loads into meaningful operational loads at the point of interest (i.e. at the end effector).This collaborative sensing approach addresses the primary challenges typically associated with force torque sensing systems. Morenbsp;specifically, designing systems capable ofnbsp;achieving accuracies and sensitivities at levels sufficient to support mission objectives while being robust enough to handle overload conditions typically associated with launch environmmentsnbsp;and large masses integrated at the distal end of robotics has been challenging.