CrossLink

Motiv Space Systems (Motiv) proposes a transformative robotic solution, CrossLink, for On-Orbit Servicing, Assembly, and Manufacturing (OSAM). Crosslink is a fusion of existing and emerging technologies under development at Motiv. For OSAM activities to realize their full potential, robotic systems of the future must improve in a number of key areas.CrossLink will enable future OSAM activities through: Low-Cost, Mobile, Modular Robotic Manipulation System The CrossLink robotic system will be architected utilizing the xLink robotic arm architecture as its basis.xLink is designed to be a highly modular, easy to re-configure system, and as such the previously designedcomponents can be shared across both xLink and CrossLink. High Bandwidth, Open Architecture, Plug-and-Play Connectivity (SpacECAT) Based upon Motivs ground robotics products, an EtherCAT communication architecture will be developed and prototyped on direct path to flight hardware utilizing Motivs Flight DELTA motor controller. This newSpaceECAT architecture will provide high speed and bandwidth communication across the CrossLinkRobotic Arm tools, mobility, and tasks as well as any other on orbit SpaceECAT enabled devices.Furthermore, this will enable the use of Motivs ROS control tools to be used for flight systems. Robotic Mobility and Generalized Tool Utilization The grappling end-effector will enable the mobility and tool use of the CrossLink system.The end-effectoracts as both a structural and electrical connection for passing power and communication signals to thespacecraft and other SpacECAT enabled tools/devices. Motiv proposes, CrossLink, a “walking” in-space assembly robotic system based on both its ground and  space flight robotic capabilities which has a direct path to flight.  To make the system flexible for use across multiple mission cases, the new system must be modular,  scalable, and mobile.  Motiv has drawn from its ground robotics architecture, Mantis, and flight  manipulation system, xLink on OSAM-2, to achieve both modularity and scalability.    The CrossLink architecture is built around modularity. Its distributed motor controller architecture along  with common actuators, structures, and launch lock systems allow for it to be re-configured quickly for  longer reach, varying degrees of freedom, or higher torque depending on the specific mission  requirements. Introducing SpacECAT along with the Grappling End Effector enables a plug-and-play open  architecture such that any module or tool in space that requires structural loads can be supported as well  as providing power and data services. The SpacECAT enables connectivity between emerging OSAM  technologies. Motiv has divided the proposed technical objectives into three primary areas as follows: Finalize design, build and test of grappling end-effector and cleat. Complete schematic capture, layout, manufacture and programming of the SpacECAT DELTA Motor Controller. Design, build and test a “3-link” functionally representative Crosslink arm which demonstrates an integrated SpacECAT enabled robotic system.  The 3 Links are defined as two end-effectors connected with an intermediate SpacECAT node (representing a joint actuator).   Proposed Deliverables: Final Report SpacECAT enabled end-effector   Work Plan: 1.    Grappling End Effector Build – Generate a working prototype end-effector with matching cleat.  The end-effector will house a single SpacECAT enabled DELTA motor controller card for driving the grappling mechanism and a COTS EtherCAT imager system to enable localized visual servoing capabilities.   2.    SpacECAT Enabled DELTA Motor Controller – Redesign DELTA FPGA interface to be compatible with SpacECAT.  This includes incorporating PHY chips on board and integrate an EtherCAT IP core with controller Verilog to be a path to flight EDU.   3.    3-Link Crosslink Testbed– Connect two working grappling end-effectors via structure, plus one intermediate SpacECAT enabled DELTA Motor Controller.   

NASA's OSAM programs are developing ever sophisticated robotic technologies and tools.  An emphasis on modularity, scalability and affordability is growing within the community.  The CrossLink addresses each of these points of emphasis and provides options for NASA in its pursuit of assembly activities on orbit.  Specific mission concepts include the In-Space Assembled Telescope, aggregated instrument payloads assembled on truss systems for complex science gathering, assembly of 3D printed structures, Internal Gateway Robotics, etc. As NASA and other government agencies create mission roadmaps for OSAM related activities, commercial entities are building business plans to create an industrial operated sector complete with services.  The CrossLink can support mission services including space tugs, material transfer between depots, and on-orbit construction of integrated systems following multiple launches.

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