HI-C LITE: Heating Integrated and Compliant Lightweight Intelligent Tool End-effector

HI-C LITE will build a novel robotic end-effector capable of grasping various geometric objects using soft material robotic technology. This end-effector will provide: 1. Under-articulation: allowing for simple control methodologies and modularity. 2. Gripper Compliance: allowing for a wide range of graspable objects not requiring a priori knowledge engendering versatility and reuse. 3. Contact heating: enabling structural bonding. 4. Variable force grasping/shaping: utilizing powerful twisted and coiled artificial muscles developed by the University of Iowa.

This project directly supports the Precision Assembly of Space Structures project. PASS is a currently a LaRC project developing the capabilities to build precision assembled large space structures supporting large space telescopes, persistent scientific platforms, as well as the exploration of alternative structural approaches for surface operations. By supplying PASS with a versatile, compliant end-effector prototype, HC-LITE and PASS will successfully demonstrate the novel half strut bonding and large truss array builds and serve as a bridge for on surface assembly of Artemis support structures. Additionally, the development of an elastomer based, fluid actuated end-effect capable of a variable low energy holding force and gripper compliance introduces a new paradigm in robot manipulation systems. This technology could also be used for capturing space assets in situations like inertial transfers or instances where exact precision manipulation may be impossible. The proposed end-effector is tolerant to control error, collision damage, and capable of low energy shaping and holding, and heating of adhesives for bonding elements for the construction of truss structures.

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