Robotic Actuators for Cryogenic Environments (RACE)

Motiv Space Systems is proposing the Robotic Actuator for Cryogenic Environments (RACE) to address the growing need for precision, high specific-torque robotic arm actuators for operations in extreme temperature environments such as permanently shadowed regions (PSRs), Enceladus, or other icy moons. For such missions, a premium is placed on low energy consumption, and RACE decreases actuator energy usage by improving efficiency and eliminating the need for actuator heaters. RACE is a novel approach to cryogenic actuators that is easily scalable and modular by design. RACE leverages Motiv’s work developing BMG material components for planetary gearboxes with the Distributed Extreme Environments Drive System (DEEDS) SBIR Phase II Sequential program and will implement a single-pass cycloidal reducer as the output stage. RACE is a heater-free, BMG material-based actuator with a small cycloidal output stage driven by a brushless DC gearmotor. Motiv and the PI have extensive experience with the design, analysis, assembly, integration, and qualification of rotary actuators for space robotics. Motiv developed and delivered all the joint actuators for the Mars 2020 Perseverance Rover robotic arm and, most recently, the COLDArm system. Construction of the motor and planetary gearbox is based on that developed for the Cold Operable Lunar Deployable Arm (COLDArm). Both COLDArm and DEEDS feature BMG material components to enable operation at -180°C, and both programs introduced BMG material elements as “drop-in” substitutions for mechanism components typically made of standard materials that comprise Motiv’s designs. Bulk Metallic Glass is an amorphous metal which has properties of high strength and low wear under load without the supplement of lubricants. Motiv is in a unique position to apply BMG substitutions to the cycloidal architecture to improve manufacturability of extreme environment rotary actuators and develop a scalable family of actuator products.

Presented below are a few primary arenas of scientific interest exist for the RACE technology: Lunar exploration and science activities: - RACE technologies can improve the robustness of core actuation systems used for rovers, robotics, and offload systems which will experience lunar night survivability or nighttime operations - RACE technologies can operate in the PSRs and be utilized in sampling systems without concern of introducing excess heat to specimens and risk corrupting samples prior to observation Enceladus Orbilander: - Future remote destinations like Enceladus will challenge mission architects to stay within mass, power, and cost budgets. Technologies like RACE minimize mass, power and cost, by operating within the full extent of thermal environments without requiring additional survival and operational augmentation or support measures like heat generating units or warm enclosures. -RACE technologies are well suited for scientific sampling systems operatng at the thermal equivalence of delicate specimens such as "snow like particles" which need to be preserved in native states prior to observation The introduction of BMG materials into the cycloidal system may have interesting commercial technology spinoffs. Many industrial robotic systems utilize cycloidal gearing as their primary actuation elements. Should the promise of BMG show benefits in wear ratios, that would be a significant benefit to the automation industry. Extended thermal capabilities provided by these actuation systems, may also lead to cost reductions of specialized industrial equipment needing to operate in terrestrial extreme climate zones.

This is a mature technology (TRL 7+) — the realistic path in is usually NASA's Technology Transfer Program: licensing an existing NASA patent, or a Space Act Agreement to use NASA facilities/expertise directly. NASA also runs a startup licensing program with no upfront fee for companies formed to commercialize a specific NASA technology.

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