Precision Low Speed Motor Controller

Satellites and other spacecraft require maintenance and service after being deployed in orbit, requiring a wide variety of tools that perform multiple maintenance tasks (grip, cut, refuel, etc.). Current drive systems for the tool interfaces on the robotic arms that perform these service tasks are not as robust nor packaged properly for use in the ATDS. The ATDS is one part of a larger in-space servicing system (example shown in the figure below) that must be versatile and perform multiple jobs. Here, innovators at the NASA Goddard Space Flight Center have developed new BLDC motors to provide the torque necessary to drive the wide variety of tools needed for in-space servicing. The four motors provide torque to the coupler drive, linear drive, inner rotary drive, and outer rotary drive of the ATDS. The new BLDC motors will enable the tools attached to the ATDS to be operated in multiple modes of operation. Each of the four motors have been customized with different speed and torque capabilities to meet the different performance requirements of the various actuator drive trains while maintaining a common gearhead across all the motors. Further, the packaging surrounding the motors has been tailored to reduce the overall weight of the motors and reduce the motor footprint to meet the needs of the ATDS. The BLDC motors for the ATDS are available for patent licensing.

Hybrid chemical motors offer an alternative to traditional liquid or solid motors for spacecraft, missiles, rockets, or other vehicles. The key advantage of a hybrid motor is the capability to throttle the motor via active control, which cannot be done in solid propellant motors. However, rapid throttling presents significant challenges to implement in practice. Here, NASA has combined a deep-throttling hybrid motor previously developed by Utah State University with a fast-acting digital valve design to produce a fast-acting, deep-throttling hybrid. Testing performed to-date using a prototype of the hybrid motor and digital valve design has shown the new hybrid motor to be capable of full-scale throttling twice as fast (1 second throttling compared to 2 seconds) as previous control valve designs. With optimization, there is potential full-range throttling may be further reduced to 0.5 second, a 4x improvement over previous control valve designs for hybrid motors. Additionally, smaller mid-range thrust changes have currently been measured in the 40:1 for relatively small motors (

Vibration problems, which occur more frequently in high power to weight machines, often lead to costly down time, subsequent redesign, and, in some instances, catastrophic failure. A disproportionate number of vibration problems in rotating machinery can be attributed to highly pre-swirled fluid entering tight clearance locations such as seals and fluid bearings. The relationship between high fluid pre-swirl and undesirable vibration issues is clear. Machines with high levels of fluid pre-swirl are more susceptible to instabilities and vibration problems. A top priority in rotor dynamic design, therefore, is to develop devices to minimize the level of fluid pre-swirl entering tight clearance locations. The RVR was designed to condition the flow prior to entering the seal (or axial flow fluid-film bearing) so that the flow through the annular clearance is at a minimum purely axial. While conventional swirl brakes have only been shown to reduce pre-swirl by up to 30%, the RVR can actually reverse the direction of the swirl, so that circumferential fluid velocity flows in a direction counter to shaft rotation. Thus, a classic detriment to rotating machinery has now become an asset to ameliorate vibration issues through the RVR. The RVR is axially efficient, typically increasing the axial length of a smooth annular seal on the order of 10-12%. The RVR has been extensively tested and is now in use at NASA.

The Foot Pedal Controller enables an operator of a spacecraft, aircraft, or watercraft, or a simulation of one in a video game, to control all translational and rotational movement using two foot pedals. This novel technology allows control across all six degrees of freedom, unlike any technology on the market. The components of the technology are a support structure, a left foot pedal, a right foot pedal, and supporting electronics. The Foot Pedal Controller is intuitive, easy to learn, and has ergonomic features that accommodate and stabilize the operator's feet. A working prototype is available to demonstrate key technology features to potential licensees. The Foot Pedal Controller technology could be used in designs for the flight deck of the future, video game controls, drone operations and flight simulators. This technology can be useful in any application where it is preferred or desirable to use the feet to control motion rather than using the hands. A potential market could be foot control of equipment by people with arm or hand disabilities. A unique aspect of the innovation is the consideration of natural foot mechanics in the design and placement of the sensors and actuators to reduce operator fatigue. The axes of rotation of the Controller align with the joints of the foot so the foot moves naturally to control the movement of the craft. NASA seeks collaborations with companies interested in licensing and partnering to further develop and commercialize the technology.

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.