Project Yukionna: Fabrication of Ice-Based Robotic Components via Formative Methods

Abstract

Ice, a naturally abundant resource in polar regions and extraterrestrial environments, has gained significant attention for its potential applications in robotics. However, there is a noticeable gap in existing research concerning the manufacturing processes of ice-based components, particularly those utilizing formative technologies for field deployment. Furthermore, outdoor field validations of robots incorporating ice components remain scarce.To bridge these gaps, this paper introduces "Project Yukionna," which includes developing and validating the Ice Formative Method (IFM). Additionally, the feasibility of three distinct manufacturing approaches: formative manufacturing (FM), subtractive manufacturing (SM), and additive manufacturing (AM), is evaluated using a two-tier Analytic Hierarchy Process (AHP). The paper further pioneers the execution of most production processes and experimental validations in fully outdoor field conditions. Numerous tests were conducted to assess the effectiveness and limitations of the IFM and a 4WD (Four-Wheel Drive) rover equipped with ice-based components. The findings demonstrate the feasibility of ice-based robotic components while highlighting the manufacturing challenges and the inherent constraints of ice as a material.