Regolith Utilization Multi-tool (RUM)

The androgynous fastener is lightweight and facilitates assembly through simple actuation with large driver-positioning tolerance requirements. This fastener provides a high-strength, reversible mechanical connection and may be used in high strength-to-weight ratio structural systems, such as lattice structure systems. The androgynous fastener resists tensile and shear forces upon loading of the lattice structure system thereby ensuring that the struts of the lattice structure system govern the mechanical behavior of the system. The androgynous fastener eliminates building-block orientation requirements and allows assembly in all orthogonal build directions. This androgynous fastener may be captive in building-block structural elements thereby minimizing the logistical complexity of transporting additional fasteners. Integration of a plurality of the androgynous fasteners into a high performance, robotically managed, structural system reduces launch energy requirements, enables higher mission adaptivity and decreases system life-cycle costs. The androgynous fastener is beneficial in any application where robotic end effectors are used to join structural components (or other parts) together. It may be particularly desirable for applications requiring frequent movement of hardware to an assembly site to replace joint connections.

Regolith excavation is desired in future space missions for the purpose of In Situ Resource Utilization (ISRU) to make local commodities, such as propellants and breathing air, and to pursue construction operations. The excavation of regolith on another planetary body surface, such as the Moon, Mars, an asteroid, or a comet is extremely difficult because of the high bulk density of regolith at lower depths. Additionally, because of the low gravity in these space surface environments, the mass of the excavator vehicle does not provide enough reaction force to enable the excavation blade to penetrate the regolith if traditional terrestrial methods are used. RASSOR uses counterrotating bucket drums on opposing arms to provide near-zero horizontal and minimal vertical net reaction force so that excavation is not reliant on the traction or weight of the mobility system to provide a reaction force to counteract the excavation force in low-gravity environments. The excavator can traverse steep slopes and rough terrain, and its symmetrical design enables it to operate in reverse so that it can recover from overturning by continuing to dig in the new orientation. The system is capable of standing up in a vertical position to dump into a receiving hopper without using a ramp. This eliminates the need for an onboard dump bin, thus reducing complexity and weight. During loading, the bucket drums excavate soil/regolith by scoops mounted on the drums exteriors that sequentially take multiple cuts of soil/regolith while rotating at approximately 20 revolutions per minute. During hauling, the bucket drums are raised by rotating the arms to provide clearance above the surface being excavated. The mobility platform can then travel while the soil/regolith remains in the raised bucket drums. When the excavator reaches the dump location, the bucket drums are commanded to reverse their direction of rotation, which causes soil/regolith to be expelled out of each successive scoop. RASSOR has wireless control, telemetry, and onboard transmitting cameras, allowing for teleoperation with situational awareness. The unit can be programmed to operate autonomously for selected tasks.

Skyvator offers enhanced positional capabilities. Skyvator can perform maneuvers such as pointing into or perpendicular to the wind, maintaining level flight, climbing, descending, and station-keeping at desired altitudes. These movements are enabled by the power system, incorporated in the wing or other location on the kite, which are attached to the controller, and in turn is connected to one or more actuators, such as motors and drivers. These motors and drivers can be located in various portions of the kite to cause one part or another to move. Additionally, the controller can be connected to one or more instrument systems for data collection and measurement purposes. These include sensors for detecting windspeed, direction, pressure, GPS, temperature, humidity, imagers, atmospheric particle detectors, and gas detectors, among others. The improved positional control and information allows a user to collect data more effectively and accurately.Skyvator is designed to be used across a wide range of altitudes, from a few feet above the ground to over 18,000 feet above the surface. Additionally, Skyvator prototypes have demonstrated the ability to maintain stready, controllable flight exceeding 60 – 70 mph winds. Please note that NASA does not manufacturer products itself for commercial sale.

Assemblers are a team of modular robots that work together to build things. Each Assembler is a stack of one or more Stewart platforms, or hexapods, made up of two plates connected by six linear actuators for movement, enabling a full six-degree-of-freedom (DOF) pose of the top plate relative to the bottom plate (see figure to the right). An end effector on each Assembler enables gripping, lifting, and welding/joining. The Assemblers system architecture features novel control algorithms and software, sensors, and communicator technology that coordinate operations of Assembler teams. The control system includes an important module for task management that estimates how many robots are needed, the optimal number of hexapods in each Assembler, and the estimated voltage needed. There are also modules for trajectory generation, joint control, sensor fusion, and fault detection. The novel control system directs the Assembler operations for high accuracy and precision, yet there is built-in dynamic resilience to failure. For example, if a single hexapod on an Assembler fails, the system deems it “rigid” in its last pose and redistributes the work to the other Assemblers. The image below shows a storyboard of operations for how Assemblers might build a solar array. NASA has developed a hardware demo with communications between subsystems, backed up by detailed simulations of the kinematics and actuator dynamics.

The HSSLP employs a three-point architecture integrated with motorized jackscrews and an inertial measurement unit (IMU) to achieve automated leveling across uneven terrain. Each leg provides multiple degrees of freedom, enabling both rotational and translational adjustments to maintain a stable platform on inclines up to 15 degrees. Once positioned, the system can hold its orientation without continuous power, reducing energy consumption and improving reliability in remote or resource-limited environments. Redundancy is built into the design through multiple actuators and independent control capability, allowing the platform to maintain functionality even if one actuator fails. The design is inherently scalable, allowing adaptation for payloads ranging from small instruments to multi-ton structures without sacrificing stiffness or stability. Originally developed for a lunar crane on the Lightweight Surface Manipulation System (LSMS), the platform has been tested in relevant environments to validate its structural integrity and load-handling performance, including successful support of a 35 kg payload at a 2-meter reach. Beyond space applications, HSSLP offers significant advantages for terrestrial industries such as construction, surveying, renewable energy, and film production. By eliminating manual adjustments and providing automated, high-load leveling capability, this technology enables faster deployment, improved safety, and greater operational efficiency in challenging environments. The HSSLP is currently assessed at a TRL 6 and is available for patent licensing.