SBIR/STTR
Low-Inertia STEM Arm (LISA) Manipulators for Assistive Free-Flyers, Phase I
Project Introduction
Altius Space Machines proposes the development of lightweight robotic manipulators, that utilize rollable composite STEM booms to provide a prismatic extension/retraction DOF, as robot arms for Assistive Free-Flyers (AFFs) on the International Space Station. These Low-Inertia STEM Arm (LISA) manipulators can provide comparable or better manipulation capabilities to AFFs than traditional robotic manipulators, but with less mass, lower inertial, better stowability, and the ability to reach into very hard-to-access locations. In Phase I, Altius and its partners will gather potential use cases for manipulator-equipped AFFs, derive system requirements and develop a conceptual design for the LISA manipulators, and develop a proof-of-concept prototype of the small STEM boom deployers for the LISA manipulators. This will raise the system TRL from 2 to 3. In Phase II, Altius and its partners will develop a prototype flight-set of LISA manipulators and interface hardware to connect them to the SPHERES testbeds on ISS, and will support the necessary ISS safety review meetings to get flight approval by the end of Phase II. Successful flight demonstration in a Phase II-E or II-X option would raise the system TRL to 8, at which point it could be smoothly integrated into operational AFFs such as the ones NASA STMD is currently developing.
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Anticipated Benefits
Potential NASA Commercial Applications: The main near-term application for LISA manipulators is to infuse them into the design of the AFF that STMD is developing under the Human Exploration Telerobotics 2 (HET-2) project. STMD is developing these AFFs as an operational robotics system for performing menial tasks that are currently performed by ISS crew, such as inventory and environmental monitoring. LISA manipulators can provide many benefits to an operational AFF, by providing not only perching/anchoring and pulling/prodding, but also more complex manipulation tasks such as opening storage lockers, fetching items, and emplacing remote sensors, without the need for crew support. In addition to the ISS application, LISA-equipped AFFs may also be useful for crew-tended deep space facilities, enabling routine maintenance, repairs, and crew-preparations to be performed robotically while no crew is present. Lastly, a vacuum/space-compatible derivative of the LISA manipulators may be useful for external assistive free-flyers supporting and in some cases replacing EVAs for repairs, maintenance, and inspection outside NASA vehicles and facilities.
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Primary U.S. Work Locations and Key Partners
| Organizations Performing Work | Role | Type | Location |
|---|---|---|---|
Ames Research Center
(ARC)
|
Lead Organization | NASA Center | Moffett Field, CA |
| Altius Space Machines, Inc. | Supporting Organization | Industry | Broomfield, CO |
Primary U.S. Work Locations
-
Colorado
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Organizational Responsibility
Responsible Mission Directorate:
- Space Technology Mission Directorate (STMD)
Lead Center / Facility:
- Ames Research Center (ARC)
Responsible Program:
- SBIR/STTR
Project Management
Program Director:
Program Manager:
Principal Investigator:
- Jonathan A Goff
Project Duration
Start: Jun 2015
End: Dec 2015
Technology Maturity (TRL)
| Start: | 2 |
| Current: | 3 |
| Estimated End: | 3 |
Applied Research
Development
Demo & Test
Technology Areas
Primary:
- TA 4 Robotics and Autonomous Systems
- TA 4.3 Manipulation
- TA 4.3.1 Manipulator Components
Other / Cross-cutting:
- TA 4 Robotics and Autonomous Systems
- TA 4.3 Manipulation
- TA 4.3.2 Dexterous Manipulation
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