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Advancements in bulk metallic glass thermoplastic forming unleash the potential to fabricate microscale metallic features with unparalleled precision and durability, i.e. microspine gripping structures for mobility platforms on planetary or in-space robots. Four designs of grippers were fabricated and rigorously tested. Coefficient of friction on four test surfaces were measured and compared to SiC paper and Velcro. The hardness and elasticity of the bulk metallic glasses make them a game-changer in the field, offering a superior alternative to conventional nonmetallic grippers. • Microspine grippers were manufactured via thermoplastic forming of bulk metallic glasses using silicon-on-insulator molds. • The microspines excelled on textured surfaces, where sharp points anchor on to pores or softer regions. • Mechanical behavior of microspines were studied using nanoindentor-based micro-compression and computer simulations. [ABSTRACT FROM AUTHOR]

Random vibration excitation is a standard method for obtaining the dynamic properties of aerospace structures and simulating loading conditions. Shaker-based random excitation and traditional finite element analysis techniques use random vibrations, assuming a Gaussian distribution of excitation impulse magnitudes. While Gaussian signals may sufficiently describe some vibrational environments, many real-world excitations have non-Gaussian distributions. These signals may contain vibrational impulses larger than those observed in a Gaussian signal and could cause damage if not considered. This paper examines the influence of non-Gaussian signals on flexible vs. rigid robotic architectures using NASA JPL's Pop-Up Flat Folding Explorer Robot (PUFFER) and Cooperative Autonomous Distributed Robotic Explorer (CADRE). The results indicate that flexible systems can be significantly impacted by a non-Gaussian excitation profile and that neither a typical enveloping of a Gaussian excitation nor a superposition of the responses to a worst-case impulse load with the response to a Gaussian signal was sufficient to bound the response due to non-Gaussian excitation. The driving mechanism for increased sensitivity of flexible robotic systems appears to be inertial, and designers may consider shifting the relative flexibility of the system or its constraints to force particular deformation modes or designing hinge mechanisms with increased damping to minimize the influence of non-Gaussian signals on the response of a flexible robotic structure. [ABSTRACT FROM AUTHOR]

Rigid-flex printed circuit board (PCB) robotics have been investigated for exploring planetary terrain currently inaccessible to traditional aluminum body rovers. To push the technology to flight readiness, there must be rigorous methodologies for modeling these structures. This paper presents a modeling methodology for rigid-flex PCB robots subjected to large deformations, failure criteria for each component of the robot (PCB, Nomex hinges, flex cable), validation with drop testing of the rigid-flex PCB robot Pop-Up Flat Folding Explorer Robot (PUFFER), and an application of the method to assess survivability under lunar impact scenarios. A numerically stable and computationally efficient model of rigid-flex PCB robotics was permitted by using a combination of pre-existing element types and a hyperelastic material model for the flexible hinges. [ABSTRACT FROM AUTHOR]

Rigid-flex circuit boards are becoming more prevalent as the limits are pushed on the size, mass, and geometry of electronic systems. A key aspect of designing a rigid-flex printed circuit boards (PCB) system is an assessment of the dynamic properties of the PCB and predicting system performance under dynamic loading. Among current modeling methodologies for rigid-flex PCB, a simplified modeling methodology that adequately captures the system dynamics does not exist. This article presents a novel, computationally efficient approach for modeling rigid-flex PCB systems and the calibration of the material models via modal testing. The resulting simplified model is able to capture system frequencies, mode shapes, and representative force-displacement behavior. The proposed methodology is used to model NASA Jet Propulsion Laboratory's Pop-Up Flat Folding Explorer Robot (PUFFER) and assess the sensitivity of a system model to input parameters. [ABSTRACT FROM AUTHOR]

VolcanoBot was developed to map volcanic vents and their underlying conduit systems, which are rarely preserved and generally inaccessible to human exploration. It uses a PrimeSense Carmine 1.09 sensor for mapping and carries an IR temperature sensor, analog distance sensor, and an inertial measurement unit (IMU) inside a protective shell. The first field test succeeded in collecting valuable scientific data but revealed several needed improvements, including more rugged cable connections and mechanical couplers, increased ground clearance, and higher-torque motors for uphill mobility. The second field test significantly improved on all of these aspects but it traded electrical ruggedness for reduced data collection speed. Data collected by the VolcanoBots, while intermittent, yield the first insights into the cm-scale geometry of volcanic fissures at depths of up to 25 m. VolcanoBot was deployed at the 1969 Mauna Ulu fissure system on Kīlauea volcano in Hawai'i. It collected first-of-its-kind data from inside the fissure system. We hypothesized that 1) fissure sinuosity should decrease with depth, 2) irregularity should be persistent with depth, 3) any blockages in the conduit should occur at the narrowest points, and 4) the fissure should narrow with depth until it is too narrow for VolcanoBot to pass or is plugged with solidified lava. Our field campaigns did not span enough lateral or vertical area to test sinuosity. The preliminary data indicate that 1) there were many irregularities along fissures at depth, 2) blockages occurred, but not at obviously narrow locations, and 3) the conduit width remained a consistent 0.4–0.5 m for most of the upper 10 m that we analyzed. [ABSTRACT FROM AUTHOR]

The use of bulk metallic glasses (BMGs) as the flexspline in strain wave gears (SWGs), also known as harmonic drives, is presented. SWGs are unique, ultra-precision gearboxes that function through the elastic flexing of a thin-walled cup, called a flexspline. The current research demonstrates that BMGs can be cast at extremely low cost relative to machining and can be implemented into SWGs as an alternative to steel. This approach may significantly reduce the cost of SWGs, enabling lower-cost robotics. The attractive properties of BMGs, such as hardness, elastic limit and yield strength, may also be suitable for extreme environment applications in spacecraft. [ABSTRACT FROM AUTHOR]