Gimbal for Steering Propelled CubeSats

The traditional scissor spring design for hand controllers has been improved upon with a circumferential spring controller mechanism that facilitates easy customization, enhanced durability, and optimum controller feedback. These advantages are partially facilitated by locating the spring to the outside of the mechanism which allows for easier spring replacement to adjust the deflection force or for maintenance. The new mechanism is comprised of two rounded blades, or cams, that pivot forward and back under operation and meet to form a circle. An expansion spring is looped around the blade perimeter and resides in a channel, providing the restoring force that returns the control stick to a neutral position. Due to the use of a longer circumferential spring, the proportion of spring expansion is smaller for a given distance of deflection, so the forces associated with the deflection remain on a more linear portion of the force deflection curve. The Circumferential Scissor Spring for Controllers is at technology readiness level (TRL) 8 (actual system completed and flight qualified through test and demonstration) and is available for patent licensing. Please note that NASA does not manufacture products itself for commercial sale.

The Miniaturized Astrometric Alignment Sensor advances satellite capabilities for astrophysical measurements, necessary for formation flying, relative navigation, and virtual telescope capabilities. The sensor is a single assembly consisting of a small, low powered camera assembly. The sensor detects stellar objects from which both stellar and object tracking are performed. The sensors components consist of a low power camera assembly, interchangeable lenses, camera power supply, and image processing software and algorithms. The system functions by searching and identifying objects in the camera's field of view and tracking the objects against a selected star pattern with a central body of interest in the sensor's field of view. The Miniaturized Astrometric Alignment Sensor makes it possible to measure a spacecrafts altitude and orientation with respect to known stellar objects. The instrument takes an image of a patch of sky, identifies the stars in that field of view, and compares the field view with a stored star map. The data is processed with a dedicated processor attached to the instrument to spell out the attitude and orientation of a spacecraft.

Starting with a "clean sheet" for process and system design, the R5 Project Team charted a path, subsystem by subsystem, through commercial, industrial, automotive, and medical-grade components, to arrive at a functional baseline CubeSat (SX-series) bus. Although the R5 approach leans heavily on commercial-off-the-shelf (COTS) hardware, there are instances where NASA custom-designed components have been determined to be the less expensive and faster-to-develop option. Such is the case for the SX cold-gas propulsion and maneuvering system’s High-Pressure Manifold, Thruster Pod, and Threaded Jet Inserts. The High-Pressure Manifold (MSC-27997-1) is a ported fluid distribution manifold that, relative to the SX-series CubeSat, distributes pressurized cold-gas to each Thruster Pod. Machined from high-grade aluminum, the SX-series manifold has a Maximum Design Pressure (MDP) of 3000 psig. The R5 team designed the manifold to accept a fuel tank, regulator, isolation valve, relief valve, transducer, and other COTS high-pressure fittings. There are four component Thruster Pods (MSC-27996-1) per each SX-series CubeSat, and each Thruster Pod is fed pressurized cold-gas from the High-Pressure Manifold. These pods are designed to be 3D-printed using additively-manufactured aluminum and are later machined to add female threads for the Threaded Jet Inserts, heli-coils, and valve ports. Each pod comprises three integrated propellant conduits that independently feed the Threaded Jet Inserts. Each directional jet has an assigned thruster valve, mounted to the Thruster Pod, which throttles the pressurized cold-gas for CubeSat propulsion and maneuvering about three linear and three rotational axes. Finally, the Threaded Jet Insert (MSC-27994-1) embodies a set-screw form factor, and relative to the SX-series CubeSat, threads into the outward-facing end of each Thruster Pod propellant conduit. Each jet is laser machined and employs an internal flow-through micro-nozzle to accelerate escaping gas fed from the thruster valve to produce thrust. These SX-series propulsion system innovations for R5 CubeSats may also have terrestrial applications across multiple industries where, for example, targeted high-velocity gas bursts, precise pneumatic micro-force, or modular choked-flow gas metering are required.

The thrust actuating device includes several innovations in the aerodynamically stable tilt actuation of propellers, propeller pylons, jets, wings, and fuselages, collectively called propulsors. The propulsors rotate between hover and forward flight mode for a tilt-wing or tilt-rotor aircraft. A vehicle designed using this technology can transition from a hovering flight condition to a wing born flight condition with no mechanical actuation and can do so without complex control systems. This results in a reduction in system weight and complexity and produces a robust and naturally stable hovering aircraft with efficient forward flight modes.

NASA Langley developed the LSMS because of the need for a versatile system capable of performing multiple functions on the lunar surface, such as unloading components from a lander, transporting components to an operational site and installing them, and supporting service and replacement during component life. Current devices used for in-space operations are designed to work on orbit (zero g) only and thus do not have sufficient strength to operate on planetary surfaces. Traditional cranes are specialized to the task of lifting and are not capable of manipulator-type positioning operations. The innovations incorporated into the LSMS allow it to lower payloads to the ground over a significant portion of the workspace without use of a hoist, functioning like a robot manipulator, thus providing a rigid connection and very precise control of the payload. The LSMS uses a truss architecture with pure compression and tension members to achieve a lightweight design. The innovation of using multiple spreaders (like spokes in a wheel) allows the LSMS to maintain its high structural efficiency throughout its full range of motion. Rod portions of the tension members automatically lift off and re-engage the spreaders as the joint articulates, allowing a large range of motion while maintaining mechanical advantage. In addition, the LSMS uses a quick-change device at the tip end that enables automated acquisition of end effectors or special purpose tools to increase its versatility.