This project will investigate the design and evaluation of a high torque-to-mass, compliant actuator intended for use in future space robotics and human\u2013
\nrobot interaction systems. The research aligns with NASA Space Technology and Exploration Systems Development mission directorates, where
\nlightweight, efficient, and robust actuation is critical for planetary surface operations, in-space assembly, and astronaut-assistive robotics. The actuator
\nconcept will emphasize mechanical efficiency and inherent compliance to reduce reflected inertia, improve shock tolerance, and enhance safety when
\noperating in uncertain or unstructured environments such as the lunar surface. The mentored student will explore variable speed transmission
\narchitectures and torque-sensitive mechanisms\u2014such as elastic elements, passive torque modulation, or mechanically adaptive gear ratios\u2014to achieve
\nhigh output torque without relying on large, high-power motors. Design activities will include conceptual studies, analytical modeling of torque output,
\nefficiency, and mass, and the development of a simplified prototype. Emphasis will be placed on comparing the proposed approach to traditional fixedratio geared actuators, highlighting potential gains in energy efficiency, controllability, and operational robustness. The project will conclude with
\nexperimental characterization and performance assessment, including measurements of torque output, efficiency, compliance behavior, and response
\nunder variable loading conditions. Results will be evaluated in the context of NASA-relevant applications such as robotic manipulators, mobility systems,
\nor astronaut-assist devices, with attention to long-duration operation. Deliverables will include a technical report, design documentation, and
\nrecommendations for future development, providing a foundation for continued research in compliant, high-performance actuators for space exploration
\nmissions.<\/p>\n
The student will conduct a literature and technology review (\u224840\u201350 hours) on high torque-to-mass actuators used in space robotics, planetary mobility
\nsystems, and human\u2013robot interaction. This will include reviewing NASA technical reports, recent journal publications, and open-source actuator
\ndesigns. The student will summarize key design tradeoffs involving torque density, efficiency, mass, compliance, and robustness, and identify
\nperformance gaps relative to traditional fixed-ratio geared actuators. Next, the student will perform concept development and analytical modeling (\u224890\u2013
\n110 hours). This work will involve selecting one actuator architecture\u2014such as a mechanically compliant transmission, variable-speed reduction
\nmechanism, or torque-modulating drive\u2014and develop a simplified analytical models to predict torque output, efficiency, reflected inertia, and compliance characteristics. The modeling tools will evaluate how design parameters influence performance and compare the proposed concept against a baseline conventional actuator. The student will then design and assemble a benchtop prototype (\u224870\u201380 hours). This phase will include detailed CAD of
\nmechanical components, selection of motors, elastic elements, and transmission components, and fabrication using off-the-shelf parts and basic
\nmachine shop or rapid prototyping tools (e.g., 3D printing). The student will develop a simple test setup to safely apply loads and measure actuator
\nresponse. Finally, the student will conduct experimental testing and performance evaluation (\u224860\u201370 hours). Tests will quantify torque output, efficiency
\nunder varying loads, compliance behavior, and response to torque disturbances or speed changes. Experimental results will be compared to analytical
\npredictions and to traditional fixed-ratio actuator performance. The project will conclude with a report and design package, including recommendations for future improvements and potential pathways toward space-relevant testing or higher-fidelity prototypes<\/p>\n
The expected outcome of this project is a well-documented, experimentally validated proof-of-concept compliant actuator design that demonstrates
\nimproved torque-to-mass efficiency and mechanical adaptability compared to a conventional fixed-ratio actuator. By the end of the 300-hour effort, the
\nstudent will have produced analytical models, a functional benchtop prototype, and quantitative performance data characterizing torque output, efficiency, compliance behavior, and response under variable loading conditions. The results will clarify the benefits and limitations of using variable-speed transmissions or torque-sensitive mechanisms for space-relevant robotic applications, and will identify key design tradeoffs affecting efficiency,
\nrobustness, and controllability. The project will deliver a technical report and design artifacts suitable for informing future NASA-aligned research in
\nlightweight, compliant actuation for exploration, robotic manipulation, and human\u2013robot teaming systems.<\/p>\n","protected":false},"excerpt":{"rendered":"
Project 4 This project will investigate the design and evaluation of a high torque-to-mass, compliant actuator intended for use in future space robotics and human\u2013 robot interaction systems. The research aligns with NASA Space Technology and Exploration Systems Development mission directorates, where lightweight, efficient, and robust actuation is critical for planetary surface operations, in-space assembly, […]<\/p>\n","protected":false},"author":575,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_relevanssi_hide_post":"","_relevanssi_hide_content":"","_relevanssi_pin_for_all":"","_relevanssi_pin_keywords":"","_relevanssi_unpin_keywords":"","_relevanssi_related_keywords":"","_relevanssi_related_include_ids":"","_relevanssi_related_exclude_ids":"","_relevanssi_related_no_append":"","_relevanssi_related_not_related":"","_relevanssi_related_posts":"","_relevanssi_noindex_reason":"","ring_central_script_selection":"","footnotes":""},"class_list":["post-2223","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/in.nau.edu\/nasa-spacegrant\/wp-json\/wp\/v2\/pages\/2223","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/in.nau.edu\/nasa-spacegrant\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/in.nau.edu\/nasa-spacegrant\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/in.nau.edu\/nasa-spacegrant\/wp-json\/wp\/v2\/users\/575"}],"replies":[{"embeddable":true,"href":"https:\/\/in.nau.edu\/nasa-spacegrant\/wp-json\/wp\/v2\/comments?post=2223"}],"version-history":[{"count":5,"href":"https:\/\/in.nau.edu\/nasa-spacegrant\/wp-json\/wp\/v2\/pages\/2223\/revisions"}],"predecessor-version":[{"id":2309,"href":"https:\/\/in.nau.edu\/nasa-spacegrant\/wp-json\/wp\/v2\/pages\/2223\/revisions\/2309"}],"wp:attachment":[{"href":"https:\/\/in.nau.edu\/nasa-spacegrant\/wp-json\/wp\/v2\/media?parent=2223"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}