SBIR-STTR Award

For many years industrial robots have benefited from the availability of automatic tool changers, allowing one robot to perform a much wider range of tasks than could be performed otherwise. While space robots for satellite servicing have embraced the use of robotic tool changers, planetary science robotics systems have historically avoided the use of tool changers, because traditional tool changers use complex mechanical latching mechanisms with many exposed moving parts, which are often mechanically unreliable in dusty environments. To solve these problems, and enable planetary science missions to switch from using massive, complex, and bulky multi-tool turret designs, Altius proposes the development of an Electropermanent Magnetic Tool Changer, which has no externally exposed moving parts. This proposed EPM Tool Changer concept uses a solid state switchable magnetic latching system to hold the tool to the tool changer, and non-contact power and data transmission. And while it is not in the scope of the proposed Phase I/II effort, this tool changer design can also enable the use of a contactless mechanical tool-drive coupling system, enabling mechanical tool drive without exposed moving parts on either side of the interface. During Phase I, Altius will work with NASA planetary science robotics teams to identify and document system requirements, and then Altius will design, build, and prototype the magnetic connection system and the wireless power/data transfer systems. This testing, which will include preliminary dusty environment testing will raise the TRL of the power/data version of the EPM tool changer from TRL 2 to TRL 4, enabling a flight-grade prototype of the power/data EPM Tool Changer to be designed, built, and qualified during Phase II, raising the system to TRL 6, where it is mature enough to be integrated into future NASA and commercial missions. Potential NASA Applications Enabling NASA science missions by reducing the size and complexity of robotic manipulators and allowing for analysis and sampling of areas that would be impossible to reach with a traditional multi-tool turret design. Enabling lighter-weight robotic tool changers for LEO and GEO satellite servicing applications. Potential Non-NASA Applications Increasing the adaptability of bomb disposal or search and rescue robots that operate in dusty environments Enabling hazardous location robotic manipulation such as nuclear reactor cleanup efforts where the hazards require the use of tele-robotics and requires specialized tools and multiple end-effectors. Enabling non-hazardous robotic manipulation in dirty or greasy environments.

With the advancement of ever more capable robotic exploration of extraterrestrial bodies comes the need for low-power, low mass, and robust in-situ tools and manipulators. The current state-of-the-art used on robotic landers relies on large, bulky, and monolithic instrumentation turrets, consuming a significant proportion of mass budget which is tightly constrained for extraterrestrial missions such as Mars. Altius Space Machines has developed a novel electropermanent magnet (EPM) gripping technology that can be integrated into a modular, dust-tolerant end-effector or tool-changer assembly. These switchable magnets unlock a significant new design envelope and offer numerous advantages over mechanical connectors, including: Dust-Tolerant Hermetic Design: EPM mating surfaces require no exposed moving electrical or mechanical parts on either side of the interface High Reliability: The EPM Tool Changer has dramatically fewer moving parts than traditional mechanical tool changers, eliminating many potential failure modes Low Actuation Power: The EPM magnetic latching system only consumers power (<5W) when the magnet is switching states, enabling indefinite holding without requiring additional power Lightweight/Compact: With no need for complex mechanical latching systems, the proposed tool changer can be dramatically lighter and simpler than traditional mechanical solutions Tight Reach Capability: The compact EPM tool changer enables insertion of sampling tools or sensors into much tighter geometric areas than would be possible with a turret or mechanical tool changer design Built-in Mechanical Fusing: Because the connection force is provided magnetically, it is possible to design the tool changer such that if a specified torque or force limit is exceeded, the tool separates non-catastrophically from the tool changer, without damaging the robot arm Phase I efforts have produced a TRL 4 tool-changer demonstrator, and the technology is ready for more advanced development. Potential NASA Applications (Limit 1500 characters, approximately 150 words) Altius' EPM Tool-changer is best suited for use on robotic extraterrestrial missions, where a complex and heavy instrumentation turret can be replaced with a modular tool end-effector. This includes: Lunar landers and rovers, including missions under the CLPS plan Future Mars rovers, including Mars Sample Return missions Rovers or landers designed for other dusty planetary and asteroidal bodies Potential Non-NASA Applications (Limit 1500 characters, approximately 150 words) Several terrestrial applications exist for Altius' EPM tool changer, including: Dirty environment robotic tool changers, such as mining, oil & gas, or food service automation Tool changer for underwater ROVs Tool changer for robotic manipulators on commercial lunar landers or rovers Tool changer for in-Space Assembly (iSA), manufacturing, or servicing spacecraft