Systems, methods, and devices for dust-tolerant robotic interfaces

Abstract

The dust resistant electromechanical interface includes a parent module and a child module. The parent module includes a mating surface, a mechanical alignment feature, a rigidization module, and an auxiliary service module. The child module includes a mating surface, a mechanical alignment target, a rigidization target, and an auxiliary service receiving module. The interface includes an unmated configuration and a mated and rigidified configuration. In the rigidified configuration, the parent and child mating surfaces are parallel and within a predetermined separation distance, the mechanical alignment feature engages the target, the rigidization module engages the target, the auxiliary service receiving module engages the auxiliary service receiving module, and the rigidization module is enabled, securing the parent module to the child module. The auxiliary services include one or more of power, mechanical torque, and data.

Description

[Technical field]

[0001] The following description relates generally to robotic interfaces, and more particularly to systems and methods for a dust tolerant robotic interface. [Background technology]

[0002] The components of the robotic system can advantageously be attached to and detached from one another, and the system can be considered an interface for transferring energy (in any form), fluid or gas, and / or data between the detachable components.

[0003] Robotic systems can be used in dusty environments (e.g., the lunar surface). Current robotic system interfaces utilize conductive electrical contacts for both data and power transfer across the interface. Dust can adhere to surfaces and contaminate mating interfaces, reducing the efficiency (and reliability) of power and data transfer across the interface. Additionally, robotic systems can utilize physically interacting mechanisms to align / mate / rigidify components to form interfaces and transfer energy mechanically. Such physically interacting mechanisms can be prone to failure in dusty environments because dust can adhere to surfaces and physically interfere with alignment and mating mechanisms.

[0004] Additionally, when operating in dusty environments, the robotic interface may face the risk of jamming. For example, when the robotic interface is mated and dust is present on the mating surfaces, the dust may contaminate the mating surfaces and mechanisms and prevent the interface from physically unmating, jamming the interface and rendering it inoperable.

[0005] In interfaces where many physical components are required to engage, dust, which can have abrasive properties, can abrade the surfaces, resulting in premature wear and reducing the useful life of the interface. Summary of the Invention [Problem to be solved by the invention]

[0006] Thus, a need exists for improved systems and methods for dust-tolerant robotic interfaces that overcome at least some of the shortcomings of existing robotic interfaces. [Means for solving the problem]

[0007] Other aspects and features will become apparent to those of ordinary skill in the art upon review of the following description of several exemplary embodiments.

[0008] Described herein is a dust-tolerant electro-mechanical interface that includes a parent module and a child module. The parent module includes a parent mating surface, mechanical alignment features, a rigidification module, and an auxiliary service module.

[0009] The child module includes a child mating surface, a mechanical alignment target, a rigidification target, and an auxiliary service receiving module.

[0010] The interface includes an unmated configuration and a mated and rigidified configuration, and when the interface is in the mated and rigidified configuration, the parent mating surface and the child mating surface are substantially parallel and within a predetermined separation distance, the separation distance corresponding to a distance separating the parent mating surface and the child mating surface, within which the rigidification module of the parent module operates to secure the parent module to the child module, the mechanical alignment features engage with the mechanical alignment targets, the rigidification module engages with the rigidification targets, the auxiliary service module engages with the auxiliary service receiving module such that auxiliary services can be passed to the child module, and the rigidification module is enabled, securing the parent module to the child module.

[0011] In some examples, the auxiliary service module includes a power transfer module and the auxiliary service receiving module includes a power receiving module.

[0012] In some examples, the auxiliary service module includes a parent communication module and the auxiliary service receipt module includes a child communication module.

[0013] In some examples, the auxiliary service module includes a parent fluid transfer module and the auxiliary service receipt module includes a child fluid receipt module.

[0014] In some examples, the rigidification module includes a controllable magnet and the rigidification target includes a ferromagnetic body portion, and when the interfaces are in the mated and rigidified configuration, the controllable magnet can be activated such that a magnetic force secures the parent module to the child module.

[0015] In some examples, the power transfer module and the power receiving module are inductively coupled such that when the power transfer module and the power receiving module are within a predetermined transfer distance, the power transfer module induces a voltage in the power receiving module, transferring power from the power transfer module to the power receiving module.

[0016] In some examples, the power transfer module and the power receiving module are within transfer distance when the interface is in a mated, rigidified configuration.

[0017] In some examples, the power transfer module continuously transfers at least 70 W of power to the power receiving module.

[0018] In some examples, the power transfer module and the power receiving module are conductively coupled such that the power transfer module conducts power to the power receiving module.

[0019] In some examples, the parent communication module includes a radio frequency ("RF") transmitter and receiver, and the child communication module includes an RF transmitter and receiver, and the parent communication module sends and receives RF signals to and from the child communication module when the interfaces are in a mated and rigidified configuration.

[0020] In some examples, the communications module transfers data at a rate of at least 3 Gbps.

[0021] In some examples, the mechanical alignment features include a plurality of dust-resistant alignment pins and the mechanical alignment target includes a plurality of dust-resistant apertures configured to receive the dust-resistant alignment pins.

[0022] In some examples, the auxiliary service module includes a torque transfer mechanism and the auxiliary service receiving module further includes a torque receiving mechanism, wherein when the interface is in the mated and rigidified configuration, the torque transfer mechanism engages the torque receiving mechanism such that the torque transfer mechanism rotates the torque receiving mechanism.

[0023] In some examples, the rigidification module includes a controllable magnet and the rigidification target includes a ferromagnetic body portion, and when the interfaces are in the mated and rigidified configuration, the controllable magnet is activated such that a magnetic force secures the parent module to the child module.

[0024] Also described herein is a method of aligning, mating, and rigidifying a robotic interface, the method including providing a parent module and a child module, the parent module and the child module being in an unmated configuration, aligning a mechanical alignment feature with a mechanical alignment target, reducing a distance between the parent module and the child module until the mechanical alignment feature engages the mechanical alignment target, further reducing the distance between the parent module and the child module such that the mechanical alignment feature and the mechanical alignment target bias the parent module and the child module to a position such that the child and parent mating surfaces are substantially parallel, and enabling a rigidification module to secure the parent module to the child module.

[0025] Also described herein is a dust resistant robotic system that includes a vehicle, structure, or platform, a robotic arm having a proximal end and a distal end, the robotic arm coupled at its proximal end to the vehicle, a first parent module coupled to the distal end of the robotic arm, and a first child module configured to be reversibly mated and rigidified with the parent module coupled to the distal end of the robotic arm, the first child module forming a first interface in the mated and rigidified configuration.

[0026] In some examples, the system further includes a second parent module, the second parent module secured to the first child module, and the tool is secured to the first child module or the second parent module.

[0027] In some examples, the system further includes a second child module secured to the surface of the platform, the second parent module configured to be reversibly mated and rigidified to the second child module forming a second interface in the mated and rigidified configuration, and the first interface configured to be in an unmated configuration while the second interface is in the mated and rigidified configuration, such that a tool is coupled to the vehicle rather than the robotic arm through the second parent module or the first child module.

[0028] In some examples, the auxiliary service module of the first parent module includes a torque transfer mechanism and the auxiliary service module of the first child module further includes a torque receiving mechanism, wherein when the first interface is in the mated configuration, the torque transfer mechanism engages with the torque receiving mechanism such that the torque transfer mechanism rotates the torque receiving mechanism.

[0029] In some examples, the torque receiving mechanism provides a rotational or linear force to the tool.

[0030] In some examples, the torque transfer mechanism of the first parent module transfers torque through the torque receiving mechanism of the first child module to the torque transfer mechanism of the second parent module, and the torque received at the torque transfer mechanism of the second parent module is used to actuate the rigidification module of the second parent module.

[0031] The drawings included herein are intended to illustrate various examples of the articles, methods and apparatus herein. [Brief description of the drawings]

[0032] [Figure 1] FIG. 13 is a block diagram of a dust resistant robot interface in a disengaged configuration, according to an embodiment. [Diagram 2] FIG. 2 is a block diagram of the dust resistant robot interface of FIG. 1 in a mated configuration. [Diagram 3] 3 is a flowchart of a method of mating the robot interface of FIGS. 1-2, according to an embodiment. [Figure 4] 3 is a flowchart of a method for unmating the robot interface of FIGS. 1-2, according to an embodiment. [Diagram 5] FIG. 1 is a block diagram of a dust resistant robotic system according to an embodiment. [Figure 6] FIG. 6 is a block diagram of the dust resistant robotic system of FIG. 5 depicted with additional components. [Figure 7] 7 is a flowchart of a method of operating the robotic system of FIGS. 5 and 6, according to an embodiment. [Figure 8A] FIG. 13 illustrates a bottom perspective view of a parent module of a dust resistant robot interface, according to an embodiment. [Figure 8B] FIG. 8B is a top perspective view of the parent module of the dust resistant robot interface of FIG. 8A with a portion of the outer housing removed to show the internal components. [Figure 9] FIG. 8C is a perspective view of a child module of the dust resistant robot interface of FIGS. 8A and 8B, according to an embodiment. [Figure 10] 1 is a schematic diagram of a dust resistant robotic system in operation, according to an embodiment. [Figure 11] 11 is a flowchart of a method of operating the robotic system of FIG. 10, according to an embodiment. [Figure 12] 3 is an internal detailed view of the parent module of FIGS. 1 and 2 including an actively actuated rigidification module, according to an embodiment. FIG. [Figure 13] FIG. 3 is an internal detailed view of the parent module of FIGS. 1 and 2 including a passively actuated rigidification module according to another embodiment. [Figure 14] FIG. 1 illustrates a block diagram of a dust-resistant robotic system including multiple dust-resistant robot interfaces, according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0033] Various apparatus or processes are described below to provide examples of each claimed embodiment. The embodiments described below are not intended to limit any claimed embodiment, and any claimed embodiment may cover a process or apparatus different from that described below. The claimed embodiments are not limited to an apparatus or process having all of the features of any one apparatus or process described below, or to features common to some or all of the apparatus described below.

[0034] One or more systems described herein may be implemented in a computer program executing on a programmable computer, each of which includes at least one processor, a data storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device. For example, but not limited to, the programmable computer may be a programmable logic unit, a mainframe computer, a server, and a personal computer, a cloud-based program or system, a laptop computer, a personal data assistant, a mobile phone, a smartphone, or a tablet device.

[0035] Each program is preferably implemented in a high level procedural or object-oriented programming language and / or scripting language to communicate with a computer system. However, the programs can be implemented in assembly or machine language, if desired. In any case, the language can be a compiled or interpreted language. Each such computer program is preferably stored on a general purpose or special purpose programmable computer-readable storage medium or device for configuring and operating a computer when the storage medium or device is read by a computer to perform the procedures described herein.

[0036] A description of an embodiment with several components in communication with each other does not imply that all such components are required. On the contrary, a variety of optional components are described to illustrate a wide variety of possible embodiments of the present invention.

[0037] Additionally, although process steps, method steps, algorithms, or the like may be described (in this disclosure and / or in the claims) in a sequential order, such processes, methods, and algorithms may be configured to work in alternative orders. In other words, any sequence or order of steps that may be described does not necessarily indicate a requirement that the steps be performed in that order. Steps of processes described herein may be performed in any order that is practical. Additionally, some steps may be performed simultaneously.

[0038] It will be readily apparent that when a single device or article is described herein, two or more devices / articles (whether they cooperate or not) can be used in place of the single device / article. Similarly, it will be readily apparent that when two or more devices or articles are described herein (whether they cooperate or not), a single device / article can be used in place of the two or more devices or articles.

[0039] The following relates generally to electro-mechanical interfaces, and more particularly to dust-resistant robotic interfaces and systems and methods for using the dust-resistant robotic interfaces in robotic handling of Orbital Replaceable Units (ORUs) and tools from fixed and mobile platforms.

[0040] The dust-resistant robotic interface of the present disclosure includes a number of modules that allow a robotic system to easily attach and detach components. The dust-resistant robotic interface may include two halves. The dust-resistant robotic interface is configured such that any one or more of data, power, and torque can be transferred through the interface across each half, and can operate in dusty environments such that dust is unlikely to interfere with the structural integrity of the interface, the transfer of power, data, or mechanical torque across the interface, or the long-term reliability of the interface.

[0041] A dust-resistant interface, in the context of the invention described herein, refers to an interface that is configured such that the presence of dust in its operating environment can minimally impair the short-term or long-term functionality of the interface. A dust-resistant interface can also be applied in dust-free environments. This feature can provide the advantage of providing a single robotic interface with dust-resistant properties and therefore can be used with or without dust, for example, when the robotic interface is moved from a dusty to a non-dusty environment or when the robotic interface is used in an environment with intermittent exposure to dust.

[0042] In one embodiment, the dust resistant robot interface includes a parent module that includes a robot end effector, which can be connected to a variety of tools. The end effector can be referred to as the parent module in some embodiments.

[0043] It can be advantageous for a robotic system to include removable components (e.g., replaceable tools, etc.) to simplify system design, increase system life, and allow for more diverse functionality (e.g., system growth and development, etc.). Removable tools can also improve system utilization. Worn tools can be discarded and replaced. Removable tools can reduce the overall duty cycle of the core robotic components.

[0044] Removable components may be particularly advantageous in environments where access to such components is limited (e.g., space, etc.). For example, a first tool can be attached to a robotic vehicle, platform, or structure to complete a first operation, and then detached from the first tool and attached to a second tool to complete a second operation. Through the operation of the sub-components of the interface, the interface can be rigidified such that the respective halves of the interface are secured to each other with sufficient force such that any tool or other component secured through the interface can withstand large rotational, lateral, and axial loads without failure or degradation of the interface. Such securing forces can be mechanical, magnetic (e.g., relying purely on magnetism to resist loads), or some other type of force, or some combination of the foregoing forces.

[0045] As used herein, the term "end effector" generally refers to a robotic device or element at the end of a robotic arm that performs a function or other positioning device. As used herein, the term "end effector" includes devices that are inseparably (i.e., permanently) attached to the end of a robotic arm and devices that are separable from the end of a robotic arm. A separable interface can allow the end effector to be picked up, used, and put down (i.e., separated from the robotic arm). An instance of an end effector with a separable interface can also be referred to as a "tool" or "tool at end of arm." In such an instance, a robotic arm can have a first end effector inseparably attached to its end that has the functionality of a tool changer that allows the robotic arm to use multiple different tools, and the robotic arm can have a second end effector with a separable interface that can be engaged by the first end effector and function as a tool. In such cases, the first "tool changer" end effector and the second "tool" end effector are each considered to be end effectors. Thus, references herein to "end effector" are intended to include all such devices as described in the foregoing unless otherwise noted.

[0046] In the context of this disclosure, parent / child terminology is used to distinguish between two halves of a robotic interface that are configured differently. Generally, the parent module is the active half and the child module is the passive half. The "active half" as previously mentioned refers to the fact that in most instances, the parent module is the module that drives the rigidification and provision of auxiliary services. In some instances, the child module can actively provide some services to the parent module, such as in instances where the interface can enable two-way data communication between the parent and child modules.

[0047] In the context of this disclosure, "engage" is defined to include non-mechanical engagement. For example, "engage" can include the interaction of two components through the passage of electromagnetic radiation (EMR) (e.g., for electrical transmission or electronic communication through EMR). In this sense, "engage" can be considered to include mechanical interaction (e.g., through physical contact, etc.) and non-mechanical interaction (which can include components that operate without physical contact as described above).

[0048] In the context of this disclosure, "rigid" and / or "rigidified" are defined as a state in which an interface is mechanically aligned and a rigidification module is activated, resulting in an interface that is not capable of being separated along one or more particular axes without the application of a significant force (e.g., a separation force).

[0049] In the context of this disclosure, "soft docking" is defined as a state or condition in which the interfaces are in mechanical alignment and placed in a mechanical position within a predetermined mating distance, but the rigidification module has not been activated, such that the interfaces can be separated by a mechanical force (e.g., less than the separation force) along one or more specified axes. An interface can be soft docked without being rigidified, but an interface cannot be rigidified without being soft docked.

[0050] In the context of this disclosure, "mating" or "mated" is defined as the condition in which the interfaces are in mechanical alignment and placed in a mechanical position within a predetermined mating distance, but the rigidification module has not been activated, such that the interfaces can be separated by a small or threshold mechanical force along one or more specific axes. "Mated" can be defined as a synonym of "soft docking" as defined above. An interface can be mated without being rigidified, but an interface cannot be rigidified without being mated.

[0051] In the context of this disclosure, "dismated" is defined as a condition in which the interface is separated such that the two portions of the interface are not mechanically engaged and are separated by a relatively large distance (e.g., a distance much greater than the mating distance, such as two or three times the mating distance). According to some embodiments, an interface cannot be rigidified when it is dismated.

[0052] Referring now to FIG. 1, shown therein is a block diagram outlining components of an embodiment of a robotic interface 100 in an unmated configuration 100a. FIG. 2 shows the robotic interface 100 in a mated configuration 100b. The interface 100 includes a parent module 102 and a child module 104. In the mated configuration 100b, the parent module 102 and the child module 104 are in a desired mechanical position relative to one another, but may not necessarily be held together by significant force across all mechanical axes. In the unmated configuration 100a, the parent module 102 and the child module 104 may be separated by a predetermined distance and may not be aligned.

[0053] The parent module 102 includes a parent mating surface 106a. In the interface 100 of FIGS. 1 and 2, the parent mating surface 106a includes a planar surface. The planar surface can mate with or butt against or near another planar surface. In other embodiments, the parent mating surface 106a can include other shapes and configurations. The parent mating surface 106a can have a shape or profile that is complementary to any other component with which the parent mating surface 106a mates.

[0054] The parent module 102 can be constructed from aluminum or other high strength materials. The parent module 102 is configured such that the exterior structure is dust sealed, so that dust present in the environment in which the parent module 102 is utilized cannot infiltrate the interior structure of the parent module 102. The components of the parent module 102 can be joined together by a conformable seal. The use of a conformable seal can ensure that there are no small gaps between the components, reducing the risk of dust ingress. In some examples of the parent module 102, the parent module 102 can be configured such that the parent module is at least IP6X dust resistant according to International Electrotechnical Commission (IEC) standard 60529.

[0055] The parent module 102 further includes mechanical alignment features 108a, a rigidification module 110a, and an auxiliary services module 120a. The auxiliary services module 120a provides one or more auxiliary services to the child module 104. The auxiliary services module 120a may include a power transfer module 112a, a parent communication module 114b, and a torque transfer mechanism 116a.

[0056] The mechanical alignment feature 108a is configured to engage features present on the child module 104 when the interface 100 is in the mated configuration 100b. The mechanical alignment feature 108a includes at least one dust-resistant alignment pin. In some embodiments, the dust-resistant alignment pin can include a fine alignment feature and a coarse alignment feature. In some exemplary embodiments, the alignment pin can include a fine alignment feature and a coarse alignment feature, where the fine alignment feature is generally conical in shape and the coarse alignment feature is generally cylindrical in shape and of a much smaller diameter than the majority of the cone of the fine alignment feature. The coarse alignment feature can protrude from the cone of the fine alignment feature such that the longitudinal axes of the coarse alignment feature and the fine alignment feature are generally collinear. In some exemplary embodiments, the interface 100 can include multiple mechanical alignment features 108a. Preferably, the interface 100 includes at least two mechanical alignment features 108a. In certain embodiments, the interface 100 may include three mechanical alignment features 108a.

[0057] Some embodiments of the interfaces described herein may not include mechanical alignment features and may instead rely on a rigidification subsystem as described herein to maintain general interface alignment.

[0058] The rigidification module 110a is configured, when in the mated configuration 100b, to rigidify the interface 100 between the parent module 102 and the child module 104, placing the interface 100 in a rigidified configuration. The rigidification module 110a is configured such that when the interface 100 is in the mated configuration 100b and when the rigidification module 110a is in a rigid and / or enabled configuration, the parent module 102 and the child module 104 are in a rigidized configuration and cannot be separated in the axial direction 126 without the application of a large external force (a "separation force").

[0059] In some examples, the separation force can be a minimum of 50 N. In other examples, the use case of the interface can affect the minimum separation force required. For example, the above separation force can be defined in an example where the mating distance 118 is 1 mm and there is a significant amount of foreign matter present within the mating distance 118. In examples where the presence of foreign matter results in a larger mating distance 118, the separation force can be even smaller. In general, in examples where the parent module 102 and the child module 104 are rigidified through magnetic attraction, the separation force can be scaled proportionally to the magnetic force at a given mating distance 118.

[0060] Although the separation forces above are described with reference to axial forces, in some use cases, other forces may be more important. For example, bending separation forces may be more important in a particular use case of the interface 100. The bending separation force may be a function of both the axial bending force and the geometry of each module of the interface, as well as the geometry of any present mechanical alignment features. Thus, such features of the interface 100 may be designed and configured to adequately resist bending and rotational loads.

[0061] Additionally, a rigidification module 110a can be used to generate the required interface preload and reduce the mechanical load on the mechanical alignment mechanism 108a during soft docking. Rigidification with respect to the interface 100 implies that magnets (or other methods) are used to achieve the preload at the interface.

[0062] In some examples, the rigidification module 110a includes a controllable magnet. The rigidification module 110a is configured such that the controllable magnet can magnetically engage features of the child module 104 such that the parent module 102 is generally secured to the child module 104. The controllable magnet can be an electrically controllable magnet or a mechanically actuated magnet. In some embodiments, the mechanical actuation of the mechanically actuated magnet can be controlled by a rotational input or other mechanical input. The rotational input can be a motor. There are various types of mechanically actuated magnets, which require different types of inputs (e.g., rotational input, linear input).

[0063] The rigidification module 110a may include an electromagnet. When a current is applied to the electromagnet, the electromagnet generates a magnetic field, which may attract ferromagnetic materials. The electromagnet may require a continuous current to keep the electromagnet either on or off. The electromagnet may function similarly to a solenoid.

[0064] In some cases, the rigidification module 110a may include an electrically controllable permanent magnet that may be activated or deactivated by application of electrical pulses and / or other electrical signals (including digital and / or analog signals).

[0065] In some embodiments, the electrically controllable permanent magnet can be mechanically actuated. For example, the magnet can be actuated from a first position to a second position, activating the magnet. In some embodiments, this can include mechanically rotating the magnet 180 degrees. In other embodiments, this can include extending and retracting the magnet, which can include axially translating the magnet toward (when extending) and away from (when retracting) the mating surface 106a.

[0066] In certain embodiments, the electrically controllable permanent magnets can include electro-permanent magnets that, once activated, require little or no continuous energy input to maintain the magnetic force of the electro-permanent magnets.

[0067] In certain embodiments, a controllable magnet can include any other system or device that can allow a magnetic field to be activated or deactivated in response to mechanical and / or electrical activation and / or control signals.

[0068] In some examples, the rigidification module 110a may include two separate components, an actuator and a magnet. The actuator is configured to move the magnet from a first position (inactive, non-rigidified position) to a second position (active, rigidified position). The actuator may be configured to passively actuate the magnet or to actively actuate the magnet. In the case of passive actuation, the drive force for driving the actuator is provided from a drive system external to the parent module 102 and received across the interface 100 (e.g., received by the torque transfer mechanism 116a and provided to the actuator). In the case of active actuation, the drive force for driving the actuator is provided by a drive system (e.g., a motor, etc.) internal to the parent module 102. In one embodiment, the actuator may include redundant DC brushless servo motors that act through a gear train by a non-backdrivable power screw. The actuator can be equipped with a motor resolver for position sensing, which can be used to sense when the magnet is in a first position and a second position. A set of redundant position sensors (e.g., microswitches or reed switches, etc.) can provide absolute position feedback.

[0069] In some examples, the permanent magnet can be mechanically rotated 180 degrees by an actuator to activate or deactivate the rigidifier module 110a and place the rigidifier module 110a in a rigid configuration. In other examples, the permanent magnet can be linearly translated by an actuator from a first position to a second position to place the rigidifier module 110a in a rigid configuration.

[0070] In some examples, the rigidifier module 110a includes a gear train to resist unwanted rotation of the permanent magnets, which can reduce the likelihood that the rigidifier module 110a will transition to a non-rigid configuration unless specifically commanded to do so by a control system.

[0071] In another embodiment, the electrically controllable permanent magnet can be electrically actuated. The electrically controllable permanent magnet can include an electromagnet. By applying a current to the electromagnet in a predetermined direction, the electrically controllable permanent magnet can be enabled.

[0072] In some examples, any magnets present in rigidification module 110a are of a composition that can resist demagnetization at high temperatures or levels of radiation (such as those to which interface 100 may be exposed if utilized in space exploration applications).

[0073] In one embodiment, the rigidification mechanism 110a can be a torque drive subsystem such that torque delivered to the parent module 102 can be used to move (or return) the rigidification mechanism 110a to the rigid configuration. The torque delivered to the parent module 102 can be received and transferred through the torque transfer mechanism 116a.

[0074] The auxiliary services module 120a provides for the transfer of auxiliary services from the parent module 102 to the child module 104. The auxiliary services module 120a, in some embodiments, may also provide for the transfer of at least some auxiliary services from the child module 104 to the parent module 102. The auxiliary services may include power transfer, data transfer, mechanical rotational energy transfer, fluid or pressurant transfer, or other auxiliary services.

[0075] The power transfer module 112 a is configured to engage features of the child module 104 such that power can be transferred from the parent module 102 to the child module 104 .

[0076] In some embodiments, the power transfer module 112a can include dust resistant electrical contacts. The electrical contacts can be spring loaded to allow for a reliable conductive connection. The electrical contacts can be sealed so that environmental dust cannot enter the parent module 102.

[0077] In some embodiments, the power transfer module 112a can include an inductive coil that inductively engages components of the child module 104 such that a voltage is induced in the components of the child module 104, and can wirelessly transfer power from the parent module 102 to the child module 104.

[0078] In some embodiments, the power transfer module 112a may include both dust resistant contacts and an inductive coil.

[0079] The parent communication module 114a can engage components of the child module 104 such that the parent communication module 114a can enable the transfer of data from the parent module 102 to the child module 104. In some embodiments, the parent communication module 114a can be configured to receive data transferred from the child module 104 to enable the transfer of data from the child module 104 to the parent module 102.

[0080] The parent communication module 114a may include an RF data transmitter and receiver. In some embodiments, the RF data transmitter and receiver may communicate with other RF transmitters and receivers via an RF data link. In an example, the RF data transmitter and receiver may send and receive data at a rate of at least 3 Gbps with a mating distance 118 of 1 mm and with the regolith simulant present within the mating distance 118. In other embodiments, other frequencies, communication protocols, or other maximum data rates may be identified and used.

[0081] The torque transfer mechanism 116a is configured to transfer torque to the child module 104. The transferred torque can be used to operate the torque drive subsystem of the integrated payload / tool. The torque transfer mechanism 116a can include an internal motor and gearbox, which can rotate a dust-resistant mechanical interface. In some examples, the dust-resistant mechanical interface can include a fork arrangement, which is configured to encourage dust egress from the mechanical interface. In some examples, the dust-resistant mechanical interface can include a socket head, which is configured to engage with a hex head feature on the child module 104. The dust-resistant mechanical interface of the torque transfer module 116a can engage a feature of the child module 104 to transfer rotational mechanical energy across the interface 100. The child module 104 can receive the transferred rotational mechanical energy and pass the energy to the torque drive subsystem. The torque drive subsystem can be any component that can be driven by rotational motion.

[0082] In some examples, the torque transfer mechanism 116a can include a magnetic inductance-based torque transfer mechanism. A magnetic inductance-based torque transfer mechanism can be particularly suitable in examples where the interface requires only low torque transfer. A magnetic inductance-based torque transfer mechanism can provide high speed, low torque transfer across the interface.

[0083] In some examples, the torque transfer mechanism 116a can be an active torque transfer mechanism that is configured to generate a transferred torque. In other examples, the torque transfer mechanism 116a can be a passive torque transfer mechanism that does not generate a transferred torque but rather receives a torque across the interface 100 generated by an external component (e.g., generated by a parent module 102 with an active torque transfer mechanism and transmitted through a child module 104 to a parent module 102 with a passive torque transfer mechanism).

[0084] The child module 104 includes a child mating surface 106b. In the interface 100 of Figures 1 and 2, the child mating surface 106b includes a planar surface that can mate with or abut against or near another planar surface. In other embodiments, the child mating surface 106b can include other shapes and configurations.

[0085] The child module 104 may be constructed from aluminum or one or more other high strength materials. The child module 104 is constructed such that the external structure of the child module 104 is dust sealed, such that dust present in the environment in which the child module 104 is utilized cannot enter the internal structure of the child module 104. The components of the child module 104 may be joined together by a conformable seal. The conformable seal may ensure that there are no small gaps between the components, reducing the risk of dust ingress. In some examples of the child module 104, the child module 104 may be constructed such that the parent module is at least IP6X dust resistant.

[0086] The child module 104 further includes a mechanical alignment target 108b, a rigidification target 110b, and an auxiliary service receiving module 120b configured to receive one or more auxiliary services from the parent module 102. The auxiliary service receiving module 120b includes a power receiving module 112b, a child communication module 114b, and a torque receiving mechanism 116b.

[0087] The mechanical alignment target 108b is configured to engage with a mechanical alignment feature 108a present on the parent module 102 when the interface 100 is in the mated configuration 100b. The mechanical alignment target 108a may include at least one dust-resistant aperture. In some exemplary embodiments, the mechanical alignment target 108b may include a plurality of dust-resistant apertures on the child module 104. The dust-resistant apertures are configured to receive the mechanical alignment feature 108a of the parent module 102. The mechanical alignment target 108b may be of a complementary shape or configuration to that of the mechanical alignment feature 108a.

[0088] In some examples, the mechanical alignment target 108b can include a partial cone geometry (e.g., a half cone geometry, etc.). Such a configuration can provide dust resistance and / or dust egress. Dust resistance and / or dust egress in such examples is facilitated by the cone-shaped surface of the mechanical alignment target 108b, which is not a full cone. Such a partial cone geometry prevents dust from becoming trapped and compressed within the alignment target 108b. In some embodiments, there can be a mechanical alignment target 108b that constitutes a substantially half cone geometry. In other embodiments, there can be an alignment target 108b that constitutes a 1 / 3 cone or a nearly full cone, where an egress path is provided by not having a full cone-shaped receptacle as the alignment target 108b.

[0089] The rigidification target 110b is configured such that the interface 100 is in a rigidified configuration when the interface 100 is in a mated configuration 100b and when the rigidification module 110a is in an activated or rigid configuration. The parent module 102 and the child module 104 cannot be separated in the axial direction 126 without the application of a large external force. In some examples, this force can be as small as 50 N.

[0090] In some examples, the rigidification target 110b includes a ferromagnetic body portion. The rigidification target 110b is configured such that the electrically controlled magnets of the rigidification module 110a can magnetically engage with the ferromagnetic body portion such that the parent module 102 is generally secured to the child module 104 in the axial direction 126. In some examples, the rigidification target 110b can include multiple ferromagnetic body portions. The rigidification target 110b can be constructed of iron, nickel, cobalt, and / or any other ferromagnetic metal, alloy, or combination of materials.

[0091] The auxiliary service receipt module 120b, in some embodiments, provides for receipt of auxiliary services from the parent module 102 to the child module 104 (and vice versa) for at least some services. The auxiliary services can include power transfer, data transfer, mechanical rotational energy transfer, fluid or pressurized body transfer, or other auxiliary services.

[0092] The power receiving module 112b is configured to engage with the power transfer module 112a of the parent module 102 such that power can be transferred from the power module 112a to the power receiving module 112b (to enable power transfer from the parent module 102 to the child module 104).

[0093] In some embodiments, the power receiving module 112b can include dust resistant electrical contacts. The electrical contacts can be recessed, spring-loaded, conductive cylinders. The cylinders can be recessed into the child module 104. The interface separating the conductive cylinder from the child mating surface 106b of the child module 104 can be lined with a conformable seal to promote dust resistance. The electrical contacts of the power receiving module 112b can be configured to interface with the electrical contacts of the power transfer module 112a such that power can be transferred across the electrical contacts from the parent module 102 to the child module 104 through conduction.

[0094] In some embodiments, the power receiving module 112b can include an induction coil that can inductively engage a component of the parent module 102 (such as, for example, the induction coil of the power transfer module 112a) such that a voltage is induced in the power receiving module 112b, and can wirelessly transfer power from the parent module 102 to the child module 104.

[0095] In some embodiments, the power receiving module 112a may include both dust resistant contacts and an inductive coil.

[0096] The child communication module 114b can engage components of the parent module 102 such that the parent communication module 114a can enable the transfer of data from the parent module 102 to the child module 104. In some embodiments, the child communication module 114b can also be configured to transfer data from the child module 104 to the parent module 102.

[0097] The child communication module 114b may include an RF data transmitter and receiver. In some embodiments, the RF data transmitter and receiver may communicate with other RF transmitters and receivers (such as may be present in the parent module 102) via an RF link. In an example, the RF data transmitter and receiver may send and receive data at a rate of at least 3 Gbps with a separation distance of 1 mm and with the regolith simulant present within the mating distance 118. In other embodiments, other frequencies, communication protocols, or other maximum data rates may be identified and used.

[0098] The torque receiving mechanism 116b is configured to receive torque transferred or applied to the torque receiving mechanism. The received torque can then be used to drive a torque drive subsystem or pass the received torque to another torque receiving mechanism. The torque receiving mechanism 116b includes an internal shaft that can be rotated by a dust resistant mechanical interface. In some examples, the dust resistant mechanical interface can include a blade arrangement that is configured to promote dust egress from the mechanical interface. The dust resistant mechanical interface can engage with the torque transferring mechanism 116a, and the blade feature of the mechanism 116b can engage with the fork feature of the mechanism 116a to receive the rotational mechanical energy transferred across the interface 100. For example, a blade feature of mechanism 116b can be configured to engage a fork feature of mechanism 116a, and once engaged, torque transfer mechanism 116a can rotate the blade feature of mechanism 116b and impart rotational mechanical energy to the engaged blade feature of mechanism 116b. In some cases, the received rotational mechanical energy can then be passed or transferred from the blade feature of mechanism 116b to a torque drive subsystem or to another torque receiving mechanism. In some examples, the dust resistant mechanical interface can include a hex head configured to engage with a hex socket feature on the parent module 102.

[0099] In some examples, the torque receiving mechanism 116b can be referred to as a passive torque transferring mechanism.

[0100] In some examples, the torque receiving mechanism 116b can be configured to receive torque through a magnetic inductance. In such examples, no mechanically interacting components are required to transfer torque across the interface. This can be particularly advantageous in environments where a mechanically interacting torque transfer mechanism is inappropriate or less desirable (e.g., particularly dusty environments) and in environments where only low levels of torque are required to be transferred across the interface.

[0101] As described above, all components of the interface 100 are configured to be dust resistant, including, where relevant, all subcomponents of the parent module 102 and the child module 104. As depicted in FIG. 2, when the interface 100 is in a mated configuration 100b, the parent mating surface 106a and the child mating surface 106b are substantially parallel. Additionally, the parent module 102 and the child module 104 may be separated by a mating distance 118 when in the mated configuration 100b. The mating distance 118 may be defined as the distance at which all subcomponents of both the parent module 102 and the child module 104 can engage with one another.

[0102] In the mated configuration 100b, the parent module 102 can pass data and power to the child module 104, and the child module 104 can pass data to the parent module 102. When the interface 100 is rigidified, the parent module 102 and the child module 104 are fixed together such that they cannot be rotationally or laterally displaced relative to one another in a direction 128, and can only be separated from one another in an axial direction 126 by application of a force large enough to counter the force that secures the rigidification module 110a to the rigidification target 110b.

[0103] 2, when the parent module 102 and the child module 104 are in a mated configuration 100b, the mechanical alignment feature 108a is engaged with the mechanical alignment target 108b. In an example where the mechanical alignment feature 108a includes a protrusion and the mechanical alignment target 108b includes an aperture configured to receive the mechanical alignment feature 108a, the mechanical alignment feature 108a can enter the aperture of the mechanical alignment target 108b such that the mechanical alignment feature 108a is engaged with the mechanical alignment target 108b. When the mechanical alignment feature 108a is engaged with the mechanical alignment target 108b, the parent module 102 and the child module 104 can only be moved axially 126 away from each other. Movement in rotational and / or lateral directions 128 is restricted. Additionally, when the mechanical alignment feature 108a is engaged with the mechanical alignment target 108b (e.g., in a mated configuration), the parent module 102 and the child module 104 are aligned such that the components of the parent module 102 and the child module 104 may subsequently engage with one another. For example, the power transfer module 112a and the power receiving module 112b may subsequently engage with one another. In this manner, the engagement of the mechanical alignment feature 106a with the mechanical alignment target 106b facilitates alignment of the parent module 102 and the child module 104 such that the other components of the parent and child modules 102, 104 may subsequently engage with one another.

[0104] The mechanical alignment features 108a and mechanical alignment targets 108b can be configured to allow both dust containment and egress. In an example including male pin based coarse alignment features, the mechanical alignment features 108a provide a low surface area of ​​contact and minimize insertion loads. The mechanical alignment features 108a and mechanical alignment targets 108b are configured to handle shear, torsional, and bending loads even in the case of dust accumulation between the components.

[0105] When the interface 100 is in a mated configuration 100b, the rigidification module 110a can engage the rigidification target 110b. When the rigidification module 110a and the rigidification target 110b are engaged, the parent module 102 cannot be easily separated from the child module 104 and the interface 100 is in a rigidified configuration. The rigidification module 110a generally secures the parent module 102 to the child module 104 in an axial direction 126 through the rigidification target 110b. When the interface 100 is in the rigidified configuration, the rigidification module 110a and the rigidification target 110b are engaged and the mechanical alignment features 108a and the mechanical alignment targets 108b are engaged, and the parent module 102 and the child module are rotationally and / or laterally 128 and axially 126 fixed to one another such that they cannot be easily separated.

[0106] When the interface 100 is in the mated configuration 100b (whether rigidified or not), the power transfer module 112a can engage with the power receiving module 112b. In examples where the power transfer module 112a and the power receiving module 112b include inductive coils (which can be inductively coupled when the interface 100 is within the mating distance 118), the parent module 102 can pass power to the child module 104. In some examples, the parent module 102 can pass power to the child module 104 at a rate of at least 70 W continuously and at a peak rate of 200 W. In some examples, the interface 100 can include dynamic wireless power transfer, where both the power transfer module 112a and the power receiving module 112b include dynamic tuning. The use of dynamic tuning in inductive coupling can provide the ability to transfer high power with high efficiency through a layer of dust (including conductive dust). Additionally, examples of the interface 100 in which the power transfer module 112a and the power receiving module 112b do not include any conductively mating components may advantageously improve reliability since the risk of physical connector jamming and / or imprecise alignment is reduced.

[0107] When the interface 100 is in the mated configuration 100b (whether rigidified or not), the child communication module 114b can engage with the parent communication module 114a, or vice versa. The parent module 102 and the child module 104 can be separated by a distance 118 that is small enough to allow the parent communication module 114a and the child communication module 114b to transfer data between the child module 104 and the parent module 102 over an RF link, and / or vice versa (i.e., the distance 118 is within the operational data transfer range of the communication modules 114a, 114b). The child communication module 114b can engage with the parent communication module 114a through any RF communication protocol known in the art for transferring data over an RF link.

[0108] Examples of the interface 100 in which the parent communication module 114a and the child communication module 114b do not include any conductively mating components may provide greater reliability because the risks of physical connector jamming and / or imprecise alignment are not reduced.

[0109] When the interface 100 is in the mated configuration 100b, the torque transfer mechanism 116a can transfer mechanical rotational energy to the torque receiving mechanism 116b. In an example where the interface 100 includes fork and blade features for torque transfer, the fork and blade features can provide high clearance and backlash built into the design, allowing interfering dust to move freely between the features. Additionally, there can be dust egress paths to minimize the risk of accumulation. The torque transfer components can be the only dynamic physically interacting components of the interface 100. In an example where the torque transfer mechanism 116a and the torque receiving mechanism 116b transfer torque through magnetic induction, no mechanically interacting components are required, reducing dust interference and clearance issues.

[0110]

[0023] Referring now to Figure 3, shown therein is a flow chart depicting a method 200 of mating the interface 100 of Figures 1 and 2, according to an embodiment. The above description with reference to Figures 1 and 2 above may be applied to the method 200 of Figure 3.

[0111] The method 200a includes steps 202a, 204a, 206a, 208a, and 210a. The method 200a begins with step 202a.

[0112] At 202a, a parent module 102 and a child module 104 are provided. The parent module 102 and the child module 104 may be provided in an unmated configuration 100a such that the respective mating surfaces (106a, 106b) are separated from one another by a distance greater than the mating distance 118. In some cases, the position of the child module 104 may be fixed at 202a, and the parent module 102 may be moved towards the child module 104 to bring the respective mating surfaces 106a, 106b closer together. This may include manipulating the parent module 102 such that the mating surface 106a of the parent module 102 faces the mating surface 106b of the child module 104.

[0113] At 204a, the mechanical alignment features 108a of the parent module 102 are aligned with the mechanical alignment targets 108b of the child module 104 such that after completion of 204a, the interface 100 is in an aligned state.

[0114] In some examples of the method 200a, aligning may include fixing the position of the child module 104 or configuring the child module 104 to start in a fixed position. Once the position of the child module 104 is fixed, the parent module 102 is manipulated in position until the mechanical alignment feature 108a is aligned with the mechanical alignment target 108b. In some examples, the mechanical alignment feature 108a and the mechanical alignment target 108b may include a central axis. The mechanical alignment feature 108a and the mechanical alignment target 108b may be considered to be aligned when the central axes of the respective components are generally or nearly collinear. The mechanical alignment feature 108a and the mechanical alignment target 108b may be separated by a distance greater than the mating distance 118 and still be considered to be aligned.

[0115] When the mechanical alignment feature 108a is aligned with the mechanical alignment target 108b, the parent mating surface 108a and the child mating surface 108b can be substantially parallel. When the mechanical alignment feature 108a includes at least three discrete features and the mechanical alignment target 108b includes at least three apertures configured to receive respective discrete features, the parent mating surface 106a and the child mating surface 106b are forced into a parallel position when the mechanical alignment feature 108a is aligned with the mechanical alignment target 108b apertures.

[0116] In other examples of step 204a, the aligning may include fixing the position of the parent module 102 or providing the parent module 102 in a fixed position in step 202a. Once the position of the parent module 102 is fixed, the child module 104 is manipulated in position until the mechanical alignment feature 108a is aligned with the mechanical alignment target 108b.

[0117] In some examples of step 204a, the alignment can be aided or prompted through the operation of a visible light camera present on the parent module 102 and a camera target present on the child module 104. The camera can include a deployable lens cover to improve dust resistance. The camera and target can facilitate autonomous alignment. The parent module 102 can be manipulated until a feedback program accessing the data feed generated by the camera confirms that the parent module 102 and the child module 104 are aligned. In other examples, the alignment of step 204a can be aided by other sensor and receiver pairs, including but not limited to ultrasonic, infrared, radar, or any other sensor pair known in the art that can assist in precisely aligning two mechanical components. In other examples, the positions of the camera and target can be reversed. In other examples, the alignment can be aided by the camera or other sensor alone, without the aid of another component (e.g., a target, etc.). In some examples, the camera or sensor can be further equipped with a light or IR light source.

[0118] In some examples of step 204a, alignment can be assisted or prompted through operation of a force-moment accommodation system that can include force and / or moment sensors embedded into or coupled to the mechanical alignment feature 108a. Such sensors can detect when the mechanical alignment feature 108a is subjected to a force or moment in a particular direction or when it is subjected to an excessive force or moment in any direction. In such examples, the force and / or moment sensors can provide feedback to other components of the interface 100 (e.g., an automated control system) such that the parent module 102 and the child module 104 can perform step 204a while minimizing forces and moments on the mechanical alignment feature 108a (e.g., by precisely controlling the position of the parent module 102 and / or the child module 104 during step 204a). Such a force-moment containment system can provide more robust feedback than a camera-based alignment assistance system because the camera lens can be blocked by dust or debris. In other examples, force and / or moment sensors can be placed in other locations of interface 100.

[0119] In some examples of the interface 100, the mechanical alignment feature 108a includes a plurality of alignment pins and the mechanical alignment target 108b includes a plurality of apertures, each configured to receive a respective one of the plurality of alignment pins of the mechanical alignment feature 108a. In such examples, when the mechanical alignment feature 108a is aligned with the mechanical alignment target 108b, the parent mating surface 106a and the child mating surface 106b can be substantially parallel.

[0120] At 206a, the distance between the parent module 102 and the child module 104 is decreased until the mechanical alignment feature 108a engages the mechanical alignment target 108b. When the mechanical alignment feature 108a is aligned with the mechanical alignment target 108b, the parent mating surface 106a and the child mating surface 106b may be substantially parallel. As the parent module 102 and the child module 104 are brought closer, the distance between the parent mating surface 106a and the child mating surface 106b decreases. Once the distance between the parent module 102 and the child module 104 is small enough, the mechanical alignment feature 108a may begin to engage the mechanical alignment target 108b.

[0121] As described above, the mechanical alignment feature 108a may include at least one dust-resistant alignment pin. In some embodiments, the dust-resistant alignment pin may include a fine alignment feature and a coarse alignment feature. The mechanical alignment target 108b may include an aperture. In step 208a, the coarse alignment feature enters the aperture of the alignment target such that rotational and / or lateral 128 movement of the parent module 102 relative to the child module 104 is substantially limited by mechanical interference of the coarse alignment feature and the aperture of the mechanical alignment target 108b.

[0122] At 208a, the distance between the parent module 102 and the child module 104 is further decreased. The distance 118 can be decreased until the distance is small enough to allow a component of the parent module 102 to engage a partner component of the child module 104. For example, the rigidification module 110a can engage the rigidification target 110b. At this distance, the interface 100 can be considered to be in a mated configuration.

[0123] In some examples of step 208a where the mechanical alignment features include fine alignment features, the geometry of the fine alignment features can engage with the mechanical alignment target 108b such that the parent module 102 is urged into a precisely aligned position relative to the child module 104.

[0124] At 210a, the rigidification module 110a is enabled. The rigidification module 110a is capable of engaging with the rigidification target 110b such that the parent module 102 and the child module 104 are forced together in the axial direction 126. In an example where the rigidification module 110a includes an electrically controllable magnet and the rigidification target 110b includes a ferromagnetic body portion, the rigidification module 110a is enabled by activating the electrically controllable permanent magnet, placing the rigidification module 110a in a rigid configuration. Similar to 208a, the parent module 102 and the child module 104 are brought together at a distance such that when activated, the rigidification module 110a can engage the rigidification target 110b, and the rigidification module 110a generates a magnetic force that urges the parent module 102 and the child module 104 together in the axial direction 126.

[0125] After completion of step 210a, the parent module 102 and the child module 104 are mated and rigidified. The interface 100 is mechanically rigid and capable of passing data and power from the parent module 102 to the child module 104. The parent module 102 and the child module 104 are separated by a distance 118 that is small enough that all subcomponents of each module are capable of engaging with corresponding components on the other module. In some examples, the distance 118 can be at most 100 mm. Activating the rigidification module 110a provides an attractive force in the axial direction 126, locking the parent module 102 and the child module 104 together axially along the direction 126 and placing the interface 100 in a rigidified configuration. The mechanical alignment features 108a secure the parent module 102 to the child module 104 in the rotational and / or lateral directions 128 by engaging with the mechanical alignment targets 108b.

[0126] As previously described, the interface 100 is configured to optimize dust resistance. Physically mating components can be limited to those necessary for functionality. The interface 100 can be mated in dusty conditions (e.g., conditions in which dust may be trapped between the parent module 102 and the child module 104). Even in dusty conditions, the interface 100 can pass power and data between the child module 104 and the parent module 102 when in a rigidified configuration and remain physically attached. In some use cases, dust present in a mated and / or rigidified interface 100 can be highly electrically and / or thermally conductive. The sub-components of the interface 100 are configured to tolerate highly electrically and / or thermally conductive dust within the distance 118 between the parent module 102 and child module 104 when the interface 100 is mated, by reducing the number of physically engaging and moving mechanism components, as previously described, and by configuring the electrical and RF characteristics to be dust resistant.

[0127] 4, shown therein is a flow chart depicting a method 200b of unmating the interface 100 of FIGs. 1 and 2, according to an embodiment. The description above with reference to method 200a is applicable to method 200b.

[0128] Method 200b begins at step 202b, where parent module 102 and child module 104 are provided in a mated configuration 100b and interface 100 is rigidified. The mated configuration 100b after rigidification may constitute the condition of interface 100 after completion of method 200a described above.

[0129] At 204b, the rigidification module 110a of the parent module 102 is disabled, placing the rigidification module 110a in a non-rigidified, mated configuration. This may include actuating the magnet of the rigidification module 110a from a second position (an active, rigidified position) to a first position (an inactive, non-rigidified position), as previously described. Once the rigidification module 110a is disabled, the parent module 102 may be axially separated from the child module 104.

[0130] At 206b, the distance 118 between the parent module 102 and the child module 104 is increased such that the mechanical alignment features 108a and the mechanical alignment targets 108b are disengaged from one another. This may include a dismated configuration. In some examples of the interface 100, a camera or other sensor may be utilized to determine whether the distance between the parent module 102 and the child module 104 is large enough that the parent module 102 and the child module 104 may be considered dismated. The distance 118 may be large enough that when a force or displacement is applied to the interface 100 in a rotational or lateral direction 128, the mechanical alignment features 108a and the mechanical alignment targets 108b may not engage or interfere with one another in the rotational or lateral direction 128.

[0131] After completion of step 206b, the interface 100 is now in the unmated configuration 100a. The parent module 102 and the child module 104 can now be mated and / or rigidified to other compatible components (e.g., other child and parent modules, etc.), respectively.

[0132] Referring now to Figure 5, shown therein is a block diagram of a dust resistant robotic system 300, according to an embodiment. The system 300 of Figure 5 includes a parent module 302, a child module 304, and a robotic arm 306. The parent module 302 can be similar to the parent module 102, and the child module 304 can be similar to the child module 104, as described above with reference to Figures 1 and 2 and method 200. As depicted in Figure 5, the system 300 is in a mated configuration and is rigidified, as described above at 100b.

[0133] In the system 300, the robot arm 306 is connected to the parent module 302 at a distal end 320 of the robot arm 306. A proximal end 318 of the robot arm 306 can be fixed, semi-rigid, or otherwise attached to a robotic vehicle or other robotic system component. In some examples, the parent module 302 can be removable from the robot arm through removal of mechanical fasteners 316 (e.g., machine screws, clips, bolts, or other mechanical fasteners, etc.). The parent module 302 includes a robot arm interface (not shown) to enable mechanical and electrical connection of the parent module 302 to the robot arm 306.

[0134] The parent module 302 can be an end effector of a robotic arm 306. Although not depicted in FIG 5, the child module 304 can include a grappling fixture and can be connected to a tool (or a parent module having a tool connected thereto) such that when the parent module 302 is mated and rigidified with the child module 304, the robotic arm 306 can manipulate the tool in space and pass power, data, or torque to the tool via an interface.

[0135] In other examples, the child module 304 can be secured to other components for grappling and manipulation by the robotic arm 306. These components can include batteries, pumps, tanks, control moment gyroscopes, current switching units, containers, logistics carriers, robotic components for repair, radiators, plasma dischargers, antennas, power conditioners, and / or fluid couplers. Such components can be connected or attached to the parent module 302 to which the child module 304 is attached.

[0136] The robotic arm 306 may include any robotic arm known in the art. The robotic arm 306 must include sufficient rigidity to support the parent module 302 and sufficient actuation force to manipulate the position of the parent module 302. The robotic arm 306 may include any number of degrees of freedom and may include a variety of sizes. A certain number of minimum degrees of freedom may be required to manipulate the parent module 302 such that it can mate with the child module 304.

[0137] The robotic arm 306 may be connected to a robotic arm controller to receive arm movement commands from the robotic arm controller to control the operation of the robotic arm 306 (and the parent module 302 to which it is connected).

[0138] 5, the robotic arm 306 can pass power and data from the robotic vehicle to the parent module 302. In some examples where the robotic arm 306 is fixed to the robotic vehicle, the vehicle can pass data and power into the parent module 302 through the robotic arm 306.

[0139] 5 includes a child module 304 mated to a parent module 302, with the interface between the child module 304 and the parent module 302 being rigidified. As described above, the interface comprised of the parent module 302 and the child module 304 is dust resistant, capable of passing power and torque from the parent module 302 to the child module 304, and capable of passing data between the child module 304 and the parent module 302.

[0140] Referring now to FIG. 6, there is shown the system 300 of FIG. 5 with additional components, according to an embodiment. The above description with reference to FIG. 5 also applies to the system of FIG. 6. The system 300 additionally includes a second parent module 308, a second child module 310, a tool 312, and a vehicle 314. The second child module 310 can be secured to the vehicle 314 (as depicted by fasteners 316). As described above with reference to FIG. 5, the proximal end 318 of the robotic arm 306 can be secured to the vehicle 314. The child module 304 is secured to the parent module 308 such that mating surfaces of the respective components face each other, such that each module can mate with the other parent module and child module, respectively. The child module 304 and the parent module 302 can generally form a cohesive single unit and can transfer power, data, and mechanical torque between each other.

[0141] 6, the tool 312 is secured to the second parent module 308 such that the system 300 can include the child module 304, the parent module 308, and the tool 312 that, when mated and rigidified, form a single cohesive rigid unit. In other examples, the tool 312 can be secured to the child module 304 or can be secured to both the second parent module 308 and the child module 304.

[0142] The tool 312 may include a soil sample collector or any other tool known in the art. The tool 312 may receive power and data through the parent module 308 such that the vehicle 314 may pass power and communications to the tool 312 such that the vehicle 314 may control the operation of the tool 312.

[0143] The parent module 302 can be mated and rigidified to the child module 304 as described above in the method 200. The second parent module 308 can be mated and rigidified to the second child module 310.

[0144] In some examples of the system 300, the parent module 302 and the child module 304 include the torque transfer mechanism 116a and the torque receiving mechanism 116b, respectively. In some examples, the second parent module 308 and the second child module 310 do not include the torque transfer mechanism 116a and the torque receiving mechanism 116b, respectively.

[0145] 7, shown therein is a flow chart depicting a method 400 of operation of the system 300 of FIG. 6, according to an embodiment. The system 300 is provided with the parent module 302 disengaged from the child module 304 and with the second parent module 308 mated and rigidified to the second child module 310, such that the tool 312 is stowed (indirectly through the parent module 308 and the child module 310) on the vehicle 314, and the robotic arm 306 is detached from the tool 312. The child module 304 is secured or attached to the second parent module 308. The system 300 is capable of being deployed in a dusty environment (e.g., the lunar surface).

[0146] The method 400 begins at step 402. At 402, the parent module 302 is mated and rigidified with the child module 304. The parent module 302 may be mated and rigidified to the child module 304 as described above with reference to the method 200. After the modules 302, 304 are mated and rigidified to one another as described, the robotic arm 306 is physically connected to the tool 312 through the child module 304.

[0147] At 404, the second parent module 308 is disengaged from the second child module 310. Once the modules 308, 310 are disengaged, the tool 312 is attached to the vehicle 314 through the parent module 302, child module 304, parent module 308, and robotic arm 306 and is removed from the child module 310, allowing the robotic arm 306 to manipulate and operate the tool 312.

[0148] At 406, the tool 312 is operated. The vehicle 314 can adjust its position in space to operate the tool 312 as desired and / or can operate the tool 312 by passing any one or more of torque, data, and power to the tool 312 through the robotic arm 306, parent module 302, and child module 304. The tool 312 can additionally pass data back to the vehicle 314 through the child module 304, parent module 302, and robotic arm 306. The tool 312 can be used, for example, to collect soil samples.

[0149] In some examples, the tool 312 may be operated by a tool operation subsystem present in the second parent module 308. The tool operation subsystem may receive power, data, and / or torque from the second parent module 308 and may pass the power, data, and / or torque to the tool 312 to operate the tool.

[0150] At 408, the second parent module 308 is mated and rigidified to the second child module 310, storing the tool 312 on the vehicle 314. This mating and rigidification process may proceed as described above with reference to method 200. Once the second parent module 308 is mated and rigidified to the second child module 310, the tool 312 is reattached to the vehicle 314 (indirectly, through its attachment to the second parent module 308).

[0151] At 410, the parent module 302 is disengaged from the child module 304. After completion of step 410, the tool 312 is stored on the vehicle 314 and removed from the robotic arm 306. The robotic arm 306 can be utilized for any other purpose while the tool 312 is safely stowed on the vehicle 314.

[0152] While the above example describes the second child module 310 being fixed to the vehicle 314, in other examples, the second module 310 can be fixed to another vehicle, spacecraft, or a fixed or dynamic physical structure such that the tool 312 can be stored on an object other than on the vehicle 314, including the robotic arm 306.

[0153] 8A, 8B, and 9, depicted therein is an exemplary embodiment of an interface 600, according to an embodiment. The above description with reference to FIGS. 1 and 2 may be applied to interface 600. The components of interface 100 may be similar to the components of interface 600, with the reference letters being incremented by intervals of 500, respectively. Interface 600 includes a parent module 602 (FIG. 8A) and a child module 604 (FIG. 9).

[0154] 8A and 8B, depicted therein are bottom and top perspective views, respectively, of a parent module 602, according to an embodiment. The parent module 602 is approximately cylindrical in shape. The parent module 602 may be constructed from machined aluminum. The parent module 602 is configured to minimize dust ingress. Components of the parent module 602 may be assembled with conformable seals, for example, to promote dust resistance.

[0155] The parent module 602 includes a parent mating surface 606a, which is a substantially planar surface of the parent module 602 that is generally cylindrical in configuration.

[0156] The parent module 602 includes three mechanical alignment features 608a. Each mechanical alignment feature 608a includes a coarse alignment feature 622a and a fine alignment feature 624a. The fine alignment feature 624a includes a substantially conical protrusion having a central axis 626a. The coarse alignment feature 622a includes a substantially cylindrical extension from a point of the conical form of the fine alignment feature 624a such that both the fine alignment feature 624a and the coarse alignment feature 622a share a common central axis 626a.

[0157] The parent module 602 includes three rigidification modules 610a. Each rigidification module 610a includes an electrically controllable permanent magnet. Each rigidification module 610a can be activated by an actuator rotating a permanent magnet inside the rigidification module 180 degrees and generating a magnetic field that can attract ferromagnetic materials so that the electrically controllable permanent magnet is activated. Each electrically controllable permanent magnet can be driven by an actuator (e.g., an internal motor, or a common motor for all rigidification modules, etc.). In other embodiments of the parent module 602, the actuators can be passively driven actuators, where drive is provided to the actuators from an external component (e.g., a motor, an end effector). Each rigidification module 610a includes a gear train and / or a non-backdrivable screw drive that resists unwanted rotation of the permanent magnet to prevent unwanted de-rigidification.

[0158] By using electrically controllable permanent magnets to generate the attractive force between the parent module 602 and the child module 604, dust resistance is maximized because fewer physically interacting mechanical components (which are susceptible to dust-related failure or interference) are exposed to the external environment.

[0159] The parent module 602 includes a power transfer module 612a that includes an induction coil capable of engaging another induction coil to wirelessly transfer power from the parent module 602 to another component. The induction coil is configured to enable the parent module 602 to transfer power to another component at a rate of at least 70 W continuously and at a peak rate of 200 W.

[0160] The parent module 602 includes a parent communication module 614a. The parent communication module 614a includes an RF data transmission and reception module that is configured such that it is capable of transmitting and receiving data at a rate of at least 3 Gbps. The parent communication module 614a is capable of sending and receiving data using any RF communication protocol known in the art.

[0161] By transmitting data wirelessly across interface 600 using RF communications instead of a conductive data link, the dust resistance of interface 600 is maximized.

[0162] The parent module 602 includes a torque transfer mechanism 616a. The torque transfer mechanism 616a includes an internal motor and gearbox that can rotate a dust resistant mechanical interface 628a. The dust resistant mechanical interface 628a includes a fork arrangement that is configured to encourage dust egress from the mechanical interface 628a. The dust resistant mechanical interface 628a can engage features of the child module 604 to transfer rotational mechanical energy across the interface 600.

[0163] The parent module 602 with its sub-components as described above is configured to maximize dust resistance. The number of exposed mechanisms and contact points is minimized. The only mechanical components exposed to the outside are the torque transfer mechanism 616a and the mechanical alignment features 608a, both of which are configured to maximize dust resistance and are capable of operating in dusty environments.

[0164] The parent module 602 may additionally include internal control, computing, and communication components that may control each sub-component of the parent module 602 and may communicate with external components (such as, for example, a robotic vehicle or robotic arm) attached to the parent module 602. The computing and communication components may include an EE controller CCA, a motor drive amplifier CCA, an I / O CCA, a power conditioning CCA, and control software.

[0165] 9, depicted therein is a perspective view of a child module 604, according to an embodiment. The child module 604 is approximately cylindrical in shape. The child module 604 may be constructed from machined aluminum. The child module 604 is constructed such that dust ingress is minimized. The components of the child module 604 may be assembled with conformable seals, for example, to promote dust resistance.

[0166] The child module 604 includes a child mating surface 606b, which is a substantially planar surface of the generally cylindrical configuration of the child module 604.

[0167] The child module 604 includes three mechanical alignment targets 608b. Each mechanical alignment target 608b includes a coarse alignment aperture 622b and a fine alignment aperture 624b. The fine alignment aperture 622b includes a generally cone-shaped recess. The coarse alignment aperture 624b includes an additional aperture at the point of the cone of the fine alignment aperture 622b. The coarse alignment aperture 622b is configured to receive the coarse alignment feature 622a of the parent module 602, and the fine alignment aperture 624b is configured to receive the fine alignment feature 624a of the parent module 602. The mechanical alignment features (e.g., 608b (including 622b and 624b) and 608a (including 622a and 624b)) allow for coarse alignment for mating. Additionally, the mechanical alignment features (e.g., 608b (including 622b and 624b) and 608a (including 622a and 624b)) withstand the interface loads when perfectly aligned (i.e., the load path passes through these features).

[0168] The child module 604 includes three rigidification targets 610b. Each rigidification target includes a body of a ferromagnetic material (e.g., iron, cobalt, nickel, or any other ferromagnetic material known in the art). Each rigidification target 610b is generally shaped like a rectangular prism. The rigidification targets 610b are positioned such that each rigidification module 610a can engage with the rigidification target 610b when the child module 604 and the parent module 602 are mated.

[0169] The child module 604 includes a power receiving module 612b that includes an induction coil capable of engaging the power transfer module 612a to wirelessly receive power from the parent module 602. The induction coil is configured to enable the parent module 602 to transfer power to the power receiving module 612b at a rate of at least 70 W continuously and at a peak rate of 200 W.

[0170] The child module 604 includes a child communications module 614b. The child communications module 614b includes an RF data transmission and reception module that is configured such that it is capable of transmitting and receiving data at a rate of at least 3 Gbps. The child communications module 614b is capable of sending and receiving data using any RF communications protocol known in the art.

[0171] The child module 604 includes a torque receiving mechanism 616b. The torque receiving mechanism 616b includes an internal shaft that can be rotated by a dust resistant mechanical interface 628b. The dust resistant mechanical interface 628b includes a blade arrangement that is configured to promote dust egress from the mechanical interface 628b. The dust resistant mechanical interface 628a can engage the mechanical interface 628b, and the blade feature of the interface 628b can engage the fork feature of the interface 628a to receive the rotational mechanical energy transferred across the interface 600.

[0172] The child module 604 may additionally include internal control, computing and communication components that may control each sub-component of the child module 604 and may communicate with external components (e.g., a robotic vehicle or robotic arm, etc.) attached to the child module 604. The computing and communication components may include an EE controller CCA, a motor drive amplifier CCA, an I / O CCA, a power conditioning CCA, and control software.

[0173] The parent module 602 and the child module 604 are mated and rigidified to form the interface 600 as described above with reference to the interface 100 and the method 200. The parent mating surface 606a and the child mating surface 606b are arranged such that they are substantially parallel. The mechanical alignment features 608a engage the mechanical alignment targets 608b such that each mechanical alignment feature 608a is received by each mechanical alignment target 608b, aligning the corresponding subcomponents of the respective modules. When the features 608a and targets 608b are mated, rotational and / or lateral movement of the child module 604 relative to the parent module 602 is restricted. The rigidification modules 610a can be mated such that they are in a rigid configuration. The rigidification module 610a is attracted to the rigidification target 610b, axially securing the parent module 602 to the child module 604 and interfacing in a rigidified configuration. The power transfer module 612a is capable of inductively engaging the power receiving module 612b such that power can be wirelessly transferred from the parent module 602 to the child module 604. The parent communication module 614a and the child communication module 614b interact via RF communication and wirelessly transfer data bidirectionally between the child module 604 and the parent module 602. The torque transfer module 616a is capable of engaging the torque receiving module 616b such that rotational mechanical energy can be transferred from the parent module 602 to the child module 604.

[0174] The mated rigidified interface 600 can form a robotic interface to be used in dusty environments. The mechanical interface is limited to mechanical alignment features and features for transferring mechanical energy. All mechanical interfaces are designed to tolerate dust, including conductive dust. The rigidified system that utilizes magnetic attraction provides a high level of dust tolerance and provides sufficient attraction for common robotic applications. Wireless data and power transfer across the interface 600 eliminates the need for conductive electrical contacts, which may be susceptible to blockage by dust, corrosion in harsh environments, or other issues in dusty environments. Wireless data and power transfer as described above is configured to tolerate conductive dust between the parent module 602 and the child module 604.

[0175] 10 , depicted therein is a robotic system 700 utilizing components of the interface 600, and an associated method 800 of operating the robotic system 700. The system 700 includes a Magnetic Dexterous End Effector (MDEE) 702, a Magnetic Dexterous Grapple Fixture (MDGF) 704, a Magnetic Orbital Replaceable Unit Mounting Platform (MOMP) 708, a robotic arm 706, a Magnetic Orbital Replaceable Unit Receptacle Base (MORB) 710, a tool 712, and a vehicle 714. The MOMP 708 can have the same functionality as the MDEE 702, except that the MOMP 708 implements passive actuation of the magnetization / rigidification module through receipt of torque across the interface 600 (i.e., torque received by the MOMP 708 across the interface is used to actuate the magnets). The components of system 700 are similar to the components of system 300, with their respective reference letters incremented by 400.

[0176] The MDEE 702 includes a parent module 602, which is secured to a robotic arm 706. The MDGF 704 includes a child module 604. The MOMP 708 includes a parent module 602. The MOMP 708 and the MDGF 704 are secured to one another and form a single unified unit. The MOMP 708 and the MDGF 704 can pass data, power, and rotational mechanical energy between one another. The MOMP 708 and the MDGF 704 are positioned such that mating surfaces 606a, 606b of the respective components face one another and can be mated and rigidified to another component. The tool 712 can be secured to the MOMP 708 and can be controlled by passing data and power to and from the MOMP 708.

[0177] The MORB 710 includes the child module 604. The MORB 710 is fixed to a vehicle 714.

[0178] In some examples of the system 700, the MOMP 708 and the MORB 710 may include embodiments of the parent module 602 and the child module 604 that do not include the torque transferring mechanism 616a and the torque receiving mechanism 616b, respectively. Such a configuration may be used, for example, when a torque interface is only required between the MDEE 702 and the MDGF 704.

[0179] Tool 712 may be any tool known in the art that may be advantageously manipulated by a robotic arm. Tool 712 may include any tool commonly used in space exploration operations. Tool 712 may include features that allow tool 712 to collect and store soil samples.

[0180] Vehicle 714 may be any vehicle known in the art, including a robotic lunar rover or other space exploration vehicle.

[0181] 11, described therein is a method of operating the system 700. The discussion above with reference to method 300 also applies to method 800. Method 800 begins with the MDEE 702 disengaged from the MDGF 704 and the MOMP 708 mated and rigidified to the MORB 710.

[0182] In step 802, the robotic arm 706 is manipulated so that the MDEE 702 can be mated and rigidified to the MDGF 704. Once mated and rigidified, the robotic arm 706 is connected to the tool 712 through the MOMP 708, the MDGF 704, and the MDEE 702. At the end of step 802, the tool 712 also remains attached to the vehicle 714 indirectly through the MOMP 708 and the MORB 710.

[0183] In step 804, the MOMP 708 is disengaged from the MORB 710. After completion of step 804, the tool 712 is indirectly connected to the robotic arm 706 through the MOMP 708, MDGF 704, and MDEE 702 and is decoupled from the vehicle 714, allowing the robotic arm 706 to manipulate and operate the tool 712.

[0184] In step 806, the tool 712 is operated. The robotic arm 706 can operate the tool by manipulating the position of the tool 712. The robotic arm 706 can pass power and data (e.g., control signals) to the tool 712 through the MDEE 702, MDGF 704, and MOMP 708.

[0185] When step 806 is completed, step 808 may be performed. In step 808, the MOMP 708 is mated and rigidified to the MORB 710 such that the tool 712 is securely coupled to the vehicle 714. After completion of step 808, the tool 712 remains mated and rigidified to the robotic arm 706 through the MDEE 702, MDGF 704, and MOMP 708.

[0186] In step 810, the MDEE 702 is disengaged from the MDGF 704. After completion of step 810, the tool 712 is stowed and secured to the vehicle 714, and the robotic arm 706 is idle and free to mate and rigidify with other tools through the interfaces of the MDEE 702 to perform other operations.

[0187] 12, depicted therein is a cross-sectional view of a parent module 902, according to an embodiment. The parent module 902 is an example of the parent module 102 of FIG 1. In an embodiment, the parent module 902 of FIG 12 can be the parent module 302 of FIG 6.

[0188] In an example, the parent module 902 can be an end effector configured to mate and rigidify with a child module (not shown in FIG. 13) that is connected to the parent module 908 in FIG. 13 such that the parent modules 902 and 908 are connected such that the parent module 902 can manipulate the parent module 908, which can have a tool attached to it. The connection of the parent modules 902 and 908 through an intermediate component (child module) is illustrated in FIG. 6, where the parent module 302 and the second parent module 308 are connected through the child module 304.

[0189] The parent module 902 includes an outer housing 146a. The outer housing 146a is generally cylindrical in shape. The outer housing 146a may be constructed from aluminum. An outer envelope of the outer housing 146a defines an interior volume 148a. The parent module 902 additionally includes a mating surface 106a. The parent module 902 may mate with a child module. During mating, the mating surface 106a is substantially parallel to the mating surface of the child module and separated by a relatively small distance.

[0190] The rigidification module 110a of the parent module 902 includes an actuator, which includes a rigidification drive 130a, a gear stage 138a, a drive screw 136a, a permanent magnet 140a, and a ferromagnetic material 142a. The rigidification module of the parent module 902 is actively actuated. To actuate the rigidification module 110a, the rigidification drive 130a is supplied with current to rotate the gear stage 138a, which in turn rotates the drive screw 136a such that the permanent magnet 140a can translate downward along the drive screw 136a toward the mating surface 106a. When the child module is installed in a position where it can mate with the parent module 902, the permanent magnet can attract a rigidification target (e.g., a ferromagnetic material, etc.) present in the child module, securing the child module to the parent module 902 and placing the interface in a rigidified configuration.

[0191] The parent module 902 includes a torque transfer module 116a. The torque transfer module 116a includes a torque drive 132a and a compliant socket 144a. The torque drive 132a can be supplied with an electric current such that the torque drive 132a can rotate a shaft that is connected to the compliant socket 144a. The compliant socket 144a can rotate and interface with a component of the child module such that torque is transferred across the interface. The torque transfer module 116a additionally includes a conformable seal 134a (sealing the interior volume 148a from the exterior) to promote dust resistance.

[0192] The parent module 902 further includes a mechanical alignment feature 108a. In FIG. 12, only a single mechanical alignment feature 108a is visible, however, in the embodiment of FIG. 12, multiple identical features are present. The parent module 902 further includes a power transfer mechanism 112a. The power transfer mechanism 112a includes four radial socket (e.g., RADSOK™) pins (two radial socket pins are not depicted in FIG. 12) that can interface with corresponding radial socket pins on a child module. The parent module 902 further includes a parent communication module, which is not visible in FIG. 12.

[0193] 13, depicted therein is a cross-sectional view of a parent module 908 according to another embodiment. The parent module 908 is an example of the parent module 102 of FIG 1. In one embodiment, the parent module 908 of FIG 13 can be the parent module 308 of FIG 6.

[0194] 13, the parent module 908 may include or be connected to other tools or components. An associated tool may be operated by passing torque, data, or power to the tool through the parent module 908. The parent module 908 may additionally include a tool operation subsystem (not shown).

[0195] The parent module 908 includes an outer housing 146a. The outer housing 146a is generally cylindrical in shape. The outer housing 146a may be constructed from aluminum. An outer envelope of the outer housing 146a defines an interior volume 148a. The parent module 908 additionally includes a mating surface 106a. The parent module 908 may mate with a child module. During mating, the mating surface 106a is substantially parallel to the mating surface of the child module and is separated by a relatively small distance.

[0196] The parent module 908 includes a torque-receiving mechanism 116b that includes a compliant interface that can interface with an external component such that the external component can impart a torque onto the torque-receiving mechanism 116b that can then pass the torque to a torque-operated subsystem.

[0197] The parent module 908 includes a rigidification module 110a. The rigidification module 110a of the parent module 908 is passively actuated and can be described as a torque-operated subsystem. Torque is externally provided to the rigidification module 110a and received through the torque-receiving mechanism 116b, causing the gear stage 138a to rotate, which in turn rotates the drive screw 136a such that the permanent magnet 140a can translate downward along the drive screw 136a toward the mating surface 106a. When the child module is installed in a position where it can mate with the parent module 908 (e.g., near the mating surface 106b), the permanent magnet can attract a rigidification target (e.g., a ferromagnetic material, etc.) present in the child module, securing the child module to the parent module 908 and placing the interface in a rigidified configuration.

[0198] The parent module 908 further includes a mechanical alignment feature 108a. In FIG. 13, only a single mechanical alignment feature 108a is visible, however, in the embodiment of FIG. 13, multiple identical features are present. The parent module 908 further includes a power transfer mechanism 112a. The power transfer mechanism 112a includes four radial socket pins (two radial socket pins are not depicted in FIG. 13) that can interface with corresponding radial socket pins on a child module. The parent module 908 further includes a parent communication module, which is not visible in FIG. 13.

[0199] In some examples, the parent module 902 can be coupled to the parent module 908 through an intermediate component, as described above. The intermediate component can be a child module that is attached or mounted to the parent module 908 at the surface 106b. In such examples, the parent module 902 can transfer power, data, and torque to the parent module 908 through the intermediate component. The parent module 908 can utilize the torque passed from the parent module 902 through the intermediate component to operate the passively actuated rigidization module 110a, as described above. The parent module 908 can interface with an attached tool by passing data, torque, or power through the tool to operate the tool.

[0200] In some examples, the parent module 902 can be an end effector of a robotic arm and can be mated and rigidified to the parent module 908 indirectly through an intermediate component (i.e., a child module). In such examples, the parent module 902 can transfer power, data, and torque to the parent module 908 through the intermediate component. The parent module 908 can operate the passively actuated rigidification module 110a using torque passed from the parent module 902 through the intermediate component as described above. The parent module 908 can interface with an attached tool by passing data, torque, or power through the tool to operate the tool. The attached robotic arm can manipulate the parent module 902 and parent module 908 in space to manipulate the position of the attached tool.

[0201] Referring now to FIG. 14, therein is shown a dust-resistant robotic system 1400 according to an embodiment. The system 1400 is an example of the system of FIG. 6. The system 1400 includes a vehicle 1414, a first parent module (which in this example is a magnetic dexterous end effector) 1402, a first child module (which in this example is a dexterous grapple fixture ("GF")) 1404, a second parent module (which in this example is an ORU mounting platform) 1408, a second child module (which in this example is an ORU receptacle base) 1410, a robotic arm (which in this example is a manipulator) 1406, and a tool (which in this example is an ORU / tool) 1412. The components of the system 1400 can be similar to the components of the system 300 of FIG. 6, and the reference letters of the respective components are incremented by 1100. The above description with reference to FIG. 6 can be applied to the system 1400. Parent module 1402 is depicted in FIG. 14 as mated to and rigidified with child module 1404, and parent module 1408 is depicted as mated to and rigidified with child module 1410.

[0202] The parent module 1402 can be permanently or removably fixed to the robotic arm 1406. The parent module 1402 can be mated and rigidified with the child module 1404, and the parent module 1402 and child module 1404 form a first robotic interface 1422-1 (shown in a mated and rigidified configuration).

[0203] The child module 1404 can be permanently or removably secured to the parent module 1408. In Figure 14, the child module 1404 is a grapple fixture component that is configured to allow the parent module 1408 (to which the child module 1404 is secured) to be grappled by the end effector parent module 1402 such that the manipulator 1406 can manipulate the parent module 1408.

[0204] The parent module 1408 can be mated and rigidified with the child module 1410, and the parent module 1408 and child module 1410 form a second robot interface 1422-2 (shown in a mated and rigidified configuration). The child module 1410 can be permanently or removably secured to the vehicle 1414. The tool 1412 can be permanently or removably secured to the parent module 1408.

[0205] 14, the parent module 1402 can pass power, data, and torque to the child module 1404 across an interface 1422-1. The child module 1404 can receive the power, data, and torque and pass the power, data, and torque to the parent module 1408. The parent module 1408 can pass power and data to the tool 1412 and the child module 1410 across a second interface 1422-2.

[0206] The system 1400 can be applied in a space exploration environment, where the parent module 1402 can be mated and rigidified with the child module 1404, the parent module 1408 can be disengaged from the child module 1410, and the robotic arm 1406 can manipulate and utilize the tool 1412 and pass data and power to the tool 1412.

[0207] When the tool 1412 is no longer in use, the parent module 1408 can be mated to the child module 1410 and rigidified, the parent module 1402 can be disengaged from the child module 1404, and the tool 1412 can be disconnected from the robotic arm 1406 and coupled to the vehicle 1414 for storage.

[0208] Although the above description provides examples of one or more devices, methods, or systems, it will be recognized that other devices, methods, or systems are possible within the scope of the claims as interpreted by one of ordinary skill in the art. [Explanation of symbols]

[0209] 100 Robot Interface 100a Unmated Configuration 100b Mated Configuration 102 Parent Module 104 Child Module 106a Parent Mating Surface 106b Child Mating Surface 108a Mechanical Alignment Features 108b Mechanical Alignment Target 110a Rigid Module 110b Rigid Target 112a Power Transfer Module 112b Power receiving module 114a Parent Communication Module 114b Child Communication Module 116a Torque transfer mechanism 116b Torque receiving mechanism 118 Mating Distance 120a Auxiliary Service Module 120b Auxiliary Service Receiving Module 126 Axial direction 128 Rotational or Transverse 130a Rigid Drive 132a Torque Drive 134a Conformable Seal 136a Drive screw 138a Gear Stage 140a permanent magnet 142a Ferromagnetic materials 144a Compliant Socket 146a Outer housing 148a Internal volume 300 Dust-resistant robot system 302 Parent Module 304 Child Module 306 Robot Arm 308 Second Parent Module 310 Second Child Module 312 Tools 314 vehicles 316 Mechanical Fasteners 318 Proximal end 320 Distal end 600 Interface 602 Parent Module 604 Child Module 606a Parent Mating Surface 606b Child Mating Surface 608a Mechanical Alignment Features 608b Mechanical Alignment Target 610a Rigid Module 612a Power Transfer Module 612b Power Receiving Module 614a Parent Communication Module 614b Child Communication Module 616a Torque Transfer Mechanism 616b Torque receiving mechanism 622a Coarse Alignment Features 622b Coarse Alignment Aperture 624a Fine Alignment Features 624b Fine Alignment Aperture 626a Center axis 628a Dust-resistant mechanical interface 628b Dust-resistant mechanical interface 700 Robot System 702 Magnetic Dexterous End Effector (MDEE) 704 Magnetic Dexterous Grapple Fixture (MDGF) 706 Robot Arm 708 Magnetic Orbital Exchange Unit Mounting Platform (MOMP) 710 Magnetic Orbital Exchange Unit Receptacle Base (MORB) 712 Tools 714 vehicles 902 Parent Module 908 Parent Module 1400 Dust-Resistant Robot System 1402 First Parent Module 1404 First Child Module 1406 Robot Arm 1408 Second Parent Module 1410 Second Child Module 1412 Tools 1414 Vehicles 1422-1 First Robot Interface 1422-2 Second Robot Interface

Claims

1. 1. A dust resistant electromechanical interface, said interface comprising: a parent module, the parent module including a parent mating surface, mechanical alignment features, a rigidification module, and an auxiliary service module; a child module, the child module including a child mating surface, a mechanical alignment target, a rigidification target, and an auxiliary service receiving module; Including, the interface includes an unmated configuration and a mated and rigidified configuration; when the interface is in the mated and rigidified configuration; the parent and child mating surfaces are substantially parallel and within a predetermined separation distance, the separation distance corresponding to a distance separating the parent and child mating surfaces, and within the distance, the rigidification module of the parent module is operative to secure the child module to the parent module; the mechanical alignment feature engages the mechanical alignment target; the rigidification module engages the rigidification target; the auxiliary service module is engaged with the auxiliary service receiving module such that an auxiliary service can be passed to the child module; The rigidification module is enabled, and a dust-resistant electro-mechanical interface secures the parent module to the child module.

2. The interface of claim 1 , wherein the auxiliary service module includes a power transfer module and the auxiliary service receiving module includes a power receiving module.

3. The interface of claim 2 , wherein the auxiliary service module includes a parent communication module and the auxiliary service receipt module includes a child communication module.

4. 4. The interface of claim 2 or 3, wherein the rigidification module includes a controllable magnet and the rigidification target includes a ferromagnetic body portion, and when the interface is in the mated and rigidified configuration, the controllable magnet is active and a magnetic force secures the parent module to the child module.

5. 5. The interface of claim 2, wherein the power transfer module and the power receiving module are inductively coupled such that when the power transfer module and the power receiving module are within a predetermined transfer distance, the power transfer module induces a voltage in the power receiving module and transfers power from the power transfer module to the power receiving module.

6. The interface of claim 5 , wherein the power transfer module and the power receiving module are within the transfer distance when the interface is in the mated, rigidified configuration.

7. 7. The interface of claim 5 or 6, wherein the power transfer module continuously transfers at least 70 W of power to the power receiving module.

8. 8. The interface of claim 6 or 7, wherein the power transfer module and the power receiving module are conductively coupled such that the power transfer module conducts power to the power receiving module.

9. 9. The interface of claim 3, wherein the parent communication module includes an RF transmitter and receiver and the child communication module includes an RF transmitter and receiver, and wherein the parent communication module sends and receives RF signals to and from the child communication module when the interface is in the mated and rigidified configuration.

10. 10. The interface of claim 9, wherein the RF signals transfer data at a rate of at least 3 Gbps.

11. 11. The interface of claim 1, wherein the mechanical alignment features include a plurality of dust-resistant alignment pins and the mechanical alignment target includes a plurality of dust-resistant apertures configured to receive the dust-resistant alignment pins.

12. 12. The interface of claim 1, wherein the auxiliary service module further includes a torque transfer mechanism, and the auxiliary service receiving module further includes a torque receiving mechanism, wherein the torque transfer mechanism engages the torque receiving mechanism and wherein the torque transfer mechanism rotates the torque receiving mechanism when the interface is in the mated and rigidified configuration.

13. 13. The interface of claim 1, wherein the rigidification module includes a controllable magnet and the rigidification target includes a ferromagnetic body portion, and when the interface is in the mated and rigidified configuration, the controllable magnet is active and a magnetic force secures the parent module to the child module.

14. 13. A method for mating and rigidifying an interface according to claim 1, said method comprising: providing a parent module and a child module, said parent module and child module being in said unmated configuration; aligning the mechanical alignment feature with the mechanical alignment target; decreasing the distance between the parent module and the child module until the mechanical alignment feature engages a mechanical alignment target; further decreasing the distance between the parent and child modules such that the mechanical alignment features and mechanical alignment targets bias the parent and child modules to a position such that child and parent mating surfaces are substantially parallel; enabling the rigidification module and fixing the parent module to the child module; A method comprising:

15. 1. A dust resistant robotic system, comprising: a static or mobile platform; a robotic arm having a proximal end and a distal end, the robotic arm coupled to the platform at its proximal end; a first parent module of the electromechanical interface of claim 1 coupled to the distal end of the robot arm; 2. A first child module of the electromechanical interface of claim 1, the child module being configured to be reversibly mated and rigidified with the parent module coupled to the distal end of the robotic arm, forming a first interface in the mated and rigidified configuration; Includes a dust-resistant robotic system.

16. a second parent module, the second parent module being fixed to the first child module; and a tool fixed to the first child module or the second parent module; The robotic system of claim 15 further comprising:

17. a second child module secured to a surface of the platform; the second parent module is configured to be reversibly mated and rigidified to the second child module and forms a second interface in the mated and rigidified configuration; 17. The robotic system of claim 16, wherein the first interface is configured to be in an unmated configuration while the second interface is in a mated and rigidified configuration such that the tool is coupled to the platform through the second parent module or first child module rather than to the robotic arm.

18. 16. The robotic system of claim 15, wherein the auxiliary service module of the first parent module includes a torque transfer mechanism and the auxiliary service module of the first child module further includes a torque receiving mechanism, wherein when the first interface is in the mated and rigidified configuration, the torque transfer mechanism engages the torque receiving mechanism and the torque transfer mechanism rotates the torque receiving mechanism.

19. The robotic system of claim 18 , wherein the torque receiving mechanism provides a rotational force to the tool.

20. 20. The robotic system of claim 18, wherein the torque transfer mechanism of the first parent module transfers torque through the torque receiving mechanism of the first child module to the torque transfer mechanism of the second parent module, and the torque received at the torque transfer mechanism of the second parent module is used to actuate the rigidification module of the second parent module.

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