Soft Tentacle Crawling Robot for Close-Contact Space Inspection

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Solution Overview

Problem

The challenge of validating and verifying assembly processes in space environments, particularly for large, non-linear structures, is hindered by the lack of effective in-person inspection methods due to zero-g and vacuum conditions, which complicates the inspection of joints, assemblies, and material quality assurance.

Innovation Solution

A soft, autonomous robot (STARFISH) with multi-armed tentacles using shape memory alloy wires and adhesive technology for gripping and locomotion, enabling close-in inspection and validation of space platform assemblies.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If free-floating stand-off inspection devices are used in space, then independence and adaptability are improved, but control complexity and risk of damaging the inspected object increase

Engineering Contradiction:

ImproveadaptabilityVSAvoidcontrol complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The inspection system is divided into multiple independent tentacles with individual sensors and actuators, allowing each tentacle to independently contact and inspect different parts of the space structure while the main body remains stationary

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

A soft robotic intermediary device with compliant tentacles serves as a mediator between the inspection system and the space structure, enabling close-contact inspection without requiring complex rendezvous and proximity operations control

Inventive Principle:

Principle #24Intermediary (Mediator)

2Measurement precision

If close-in inspection is performed in space, then inspection quality is improved, but risk of damaging the inspected object increases

Engineering Contradiction:

Improveinspection qualityVSAvoiddamage risk

Core Design Contradiction:

Measurement precisionVSObject-affected harmful factors

Solution Approach 1:

The tentacles are constructed with soft, compliant materials that can conform to the surface of the space structure, enabling close-contact inspection while the flexibility prevents damage to the inspected object

Inventive Principle:

Principle #30Flexible shells and thin films

Solution Approach 2:

The physical state of the tentacle materials is designed to be highly compliant and adaptable, changing from rigid to flexible to ensure safe contact with the space structure surface during inspection

Inventive Principle:

Principle #35Parameter changes

3Extent of automation

If autonomous operation is implemented in space, then operational independence is improved, but system complexity and power requirements increase

Engineering Contradiction:

Improveoperational independenceVSAvoidsystem complexity

Core Design Contradiction:

Extent of automationVSDevice complexity

Solution Approach 1:

The robotic system is designed to autonomously navigate, inspect, and return to its base without external control, with onboard sensors and processors that enable self-directed operation in the space environment

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The robotic platform integrates multiple functions including locomotion, inspection, and communication into a single autonomous system, reducing overall complexity compared to separate specialized systems

Inventive Principle:

Principle #6Universality (Multi-functionality)

4Weight of moving object

If lightweight design is used for space deployment, then launch cost is reduced, but structural strength and grip capability may be compromised

Engineering Contradiction:

ImproveweightVSAvoidgrip capability

Core Design Contradiction:

Weight of moving objectVSStrength

Solution Approach 1:

The tentacles utilize composite material structures combining lightweight polymers with embedded shape memory alloy wires, providing both low weight for space deployment and sufficient strength for gripping and inspection operations

Inventive Principle:

Principle #40Composite materials

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Enables flexible and compliant inspection of space structures with constant contact, minimizing damage risk and providing efficient validation of assembly processes using low power and scalable, lightweight design.

Implementation Method 1

each tentacle including at least one shape memory alloy wire configured to move the tentacle

Methodology Applied

Scientific EffectShape memory alloy: Shape Memory Alloy

Implementation Method 2

The plurality of tentacles are configured to apply a shear force on the target object to grip the target object using an adhesive force

Methodology Applied

Scientific EffectAdhesive force: Adhesive

Data Source

PatentUS12576543B2Soft robotics, autonomous, space inspection, crawling robot

Publication Date: 2026.03.17 UNIV OF SOUTHERN CALIFORNIA

AI summary

A multi-armed robotic translation device includes a robotic body that includes a base section and a cover section attached to the base section. A plurality of tentacles is attached to the robotic body. The plurality of tentacles are configured to apply a shear force on the target object to grip the target object using an adhesive force, each tentacle including at least one shape memory alloy wire configured to move the tentacle. A control system is positioned in the robotic body and is configured to provide power and/or control signals to the tentacles.