Motiv Space Systems (Motiv) presents the Low-Gravity Robotic Arm System (L-GRAS) to address the growing need for extremely lightweight robotics for low-gravity environments. With both NASA and commercial entities targeting operations in low-gravity environments such as the Moon there is a robotics capability gap for low-gravity robotic arms that can scale for different use cases and vehicles. This need extends not only for the Moon but also environments like Enceladus where the gravity is 1% of Earth’s. In addition to operating in such an environment there is a priority to minimize mass for many of these missions. In particular, the rotorcraft missions envisioned for planetary bodies such as Mars, made feasible by the success of the Ingenuity helicopter, require ultra-lightweight systems. Because every mission is different the L-GRAS system is designed to be modular and scalable to afford the varied use cases, dexterity, and reach needs of a variety of missions. Any commercial solution for low-gravity arms must be technologically feasible and affordable. Additionally, for the design to be commercially viable, potential solutions must be scalable and tolerant of various kinematic solutions. L-GRAS can be scaled for rovers, rotorcraft, or landers. The focus of this proposed research is a solution based on well-established principles in motion control, robotics, and electrostatic adhesion but tailored to take advantage of the low-gravity planetary environments. Additionally, for sample handling or transfer, the choice of the electrostatic adhesion gripper can be designed to both handle a wide variety of specimens and impart no detrimental magnetic field into the sample. L-GRAS is comprised of a small robotic arm with distributed drive electronics and a customizable electrostatic adhesion gripper powered by a high voltage DC-DC converter. This robotic system will enable a low cost, versatile, scalable approach to enable low-gravity environment exploration.

NASA applications include rovers, rotorcraft, and landers destined for low-gravity environments. Though not the target application, L-GRAS could be used on small orbital applications such as those found on the International Space Station.

Commercial companies developing small scale rovers for the Moon could make use of the robotic system. This also extends to CLPS lander providers that could use the scalable robotic arm for sample acquisition and/or transfer.