Soft-Robotic Rover with Electrodynamic Power Scavenging

Abstract

The purpose of studying the capabilities of Electrodynamic Tethers (EDT) and Soft Robotics is to ascertain the feasibility of using cross-cutting EDT and soft robotics technologies to achieve future NASA mission objectives with mass and power budgets orders of magnitude lower than conventional spacecraft. In this context, the Phase I study focuses on three technological elements: the design of a soft-robotic rover that can operate in extraterrestrial oceans, demonstrating feasibility of electrodynamic tethers for power scavenging in the Europa environment, and utilizing electrolysis to power biomimetic propulsion.The Phase I results show that a soft robotic, underwater rover has many advantages over a traditional view of autonomous underwater vehicles. Many of these advantages stem from its ability to collapse or expand the body, which carries two key benefits: (i) cost savings in transport and (ii) buoyancy control. Furthermore, this rover's material offers properties that enable it to survive most oceanic conditions, withstand a likely radiation environment, and retard ice formation. The use of these soft robots under water is very attractive because buoyancy enables very large robots without the need for skeletal structures that limit their shape-changing ability. The prime limitation of soft robots for underwater exploration is their nascent state of development, an issue that this study has begun to address and that we hope to continue in Phase II. The theoretical calculations and experimental investigation on electrodynamic tethers discussed in this report show that their use in saltwater environments is feasible. However, magneto hydrodynamic effects require attention, which will be a priority in Phase II. A possible approach involves magnetic shielding of a portion of the EDT array to generate significant current from imposed alternating magnetic fields. The Phase I experiments show that this approach may enable enough power to be generated for a soft robotic rover of the scale contemplated here. This power is in the range of 1mW to 1W and determines the time required to collect and transmit science data