Abstract: A robotically-compatible interface system for providing auxiliary services to payloads is provided. The system includes a passive mating including an alignment plate and a passive-side auxiliary service connector coupled to the alignment plate and an active mating assembly including a torque input shaft, a lead screw coupled thereto rotating in response to received torque input, a mating plate translating via rotation of the lead screw, and at least one active-side auxiliary service connector coupled to the mating plate, the auxiliary service connectors configured to mate and transfer fluid or power. Translation of the plates aligns the active and passive mating assemblies parallel to one another and the at least one active-side auxiliary service connector and at least one passive-side auxiliary service connector are coarsely or substantially aligned. Rotation of the lead screw after alignment further translates the plates such that the service connectors mate.

Abstract: A system and method for robotic interfacing is provided herein. The robotic system includes a payload interface comprising a platform side and a receptacle side. The platform side is robotically maneuverable, and adaptable to carry a payload. The receptacle side is affixed to a host structure. The payload interface is autonomously removed and replaced by a robotic manipulator. The robotic manipulator includes an end effector having a grapple mechanism that connects with a grapple fixture of the platform side.

Abstract: In an aspect, an actuator is provided and includes an axial flux motor and an epicycloid gear arrangement. The axial flux motor has a motor stator and a rotor, the rotor defining a rotor axis and having a motor output shaft. The motor output shaft has a first shaft portion that is coaxial with the rotor axis and a second shaft portion that is offset from the rotor axis. The epicycloid gear arrangement includes a ring gear, a cycloid gear, and a gear arrangement output member. The cycloid gear is rotatably mounted to the second shaft portion of the motor output shaft such that rotation of the motor output shaft drives the cycloid gear about the ring gear. The gear arrangement output member is driven rotationally by the cycloid gear about a gear arrangement output member axis that is fixed.

Abstract: In an aspect, an actuator is provided and includes an axial flux motor and an epicycloid gear arrangement. The axial flux motor has a motor stator and a rotor, the rotor defining a rotor axis and having a motor output shaft. The motor output shaft has a first shaft portion that is coaxial with the rotor axis and a second shaft portion that is offset from the rotor axis. The epicycloid gear arrangement includes a ring gear, a cycloid gear, and a gear arrangement output member. The cycloid gear is rotatably mounted to the second shaft portion of the motor output shaft such that rotation of the motor output shaft drives the cycloid gear about the ring gear. The gear arrangement output member is driven rotationally by the cycloid gear about a gear arrangement output member axis that is fixed.