Engineering topics

Vranish, John M.

Publications and source records attributed to Vranish, John M..

At least 37 records · Page 2

NASA NTRS1998

3-D capaciflector

A capacitive type proximity sensor having improved range and sensitivity between a surface of arbitrary shape and an intruding object in the vicinity of the surface having one or more outer conductors on the surface which serve as capacitive sensing elements shaped to conform to the underlying surface of a machine. Each sensing element is backed by a reflector driven at the same voltage and in phase with the corresponding capacitive sensing element. Each reflector, in turn, serves to reflect the electric field lines of the capacitive sensing element away from the surface of the machine on which the sensor is mounted so as to enhance the component constituted by the capacitance between the sensing element and an intruding object as a fraction of the total capacitance between the sensing element and ground. Each sensing element and corresponding reflecting element are electrically driven in phase, and the capacitance between the sensing elements individually and the sensed object is determined using circuitry known to the art. The reflector may be shaped to shield the sensor and to shape its field of view, in effect providing an electrostatic lensing effect. Sensors and reflectors may be fabricated using a variety of known techniques such as vapor deposition, sputtering, painting, plating, or deformation of flexible films, to provide conformal coverage of surfaces of arbitrary shape.

Vranish, John M.↗

NASA NTRS1996

Twist planet drive

A planetary gear system includes a sun gear coupled to an annular ring gear through a plurality of twist-planet gears, a speeder gear, and a ground structure having an internal ring gear. Each planet gear includes a solid gear having a first half portion in the form of a spur gear which includes vertical gear teeth and a second half portion in the form of a spur gear which includes helical gear teeth that are offset from the vertical gear teeth and which contact helical gear teeth on the speeder gear and helical gear teeth on the outer ring gear. One half of the twist planet gears are preloaded downward, while the other half are preloaded upwards, each one alternating with the other so that each one twists in a motion opposite to its neighbor when rotated until each planet gear seats against the sun gear, the outer ring gear, the speeder gear, and the inner ring gear. The resulting configuration is an improved stiff anti-backlash gear system.

Vranish, John M.↗

NASA NTRS1996

Capaciflector-guided mechanisms

A plurality of capaciflector proximity sensors, one or more of which may be overlaid on each other, and at least one shield are mounted on a device guided by a robot so as to see a designated surface, hole or raised portion of an object, for example, in three dimensions. Individual current-measuring voltage follower circuits interface the sensors and shield to a common AC signal source. As the device approaches the object, the sensors respond by a change in the currents therethrough. The currents are detected by the respective current-measuring voltage follower circuits with the outputs thereof being fed to a robot controller. The device is caused to move under robot control in a predetermined pattern over the object while directly referencing each other without any offsets, whereupon by a process of minimization of the sensed currents, the device is dithered or wiggled into position for a soft touchdown or contact without any prior contact with the object.

Vranish, John M.↗

NASA NTRS1996

Three-dimensional roller locking sprags

A torque coupling sprag system which provides contact between the sides of at least one groove and at least two contact surfaces angled with respect to the central axial direction of at least one rotatable 3-D sprag member located between a drive member and a reaction member. The surface contacts between the members include various combinations of surface segments arranged in a predetermined manner to define a desired configuration. The contact radius of the 3-D sprag member is significantly larger than its rolling radius; however, radii can be varied in size and shape independently of each other, particularly the contact radius.

Vranish, John M.↗

NASA NTRS1995

Carrier-less, anti-backlash planetary drive system

This invention relates to a carrier-less, anti-backlash planetary gear system that has an input sun gear, a force-balancing and planet-alignment 'speeder' gear above the sun gear, a split ring gear that has a fixed lower ring gear coaxial with the sun gear and a rotating upper ring gear also coaxial with the sun gear. A preload bolt is used for securing the split ring gears together. Within the split ring gear is an even number of planet gears between the split ring gear and the sun gear. Each planet gear consists of an upper planet gear, and lower planet gear with the upper and lower planet gears splined together and pushed apart by a spring which causes separation and relative twist between the upper and lower planet gears. The lower planet gear meshes with the input sun gear and the fixed ring gear while the upper planet gear is driven by the lower planet gear and meshes with the rotating ring gear.

Vranish, John M.↗

NASA NTRS1995

Improved Spline Coupling For Robotic Docking

Robotic docking mechanism like one described in "Self-Aligning Mechanical and Electrical Coupling" (GSC-13430) improved. Spline coupling redesigned to reduce stresses, enchancing performance and safety of mechanism. Does not involve significant increase in size. Convex spherical surfaces on spline driver mate with concave spherical surfaces on undersides on splines in receptacle. Spherical surfaces distribute load stresses better and tolerate misalignments better than flat and otherwise shaped surfaces.

Vranish, John M.↗

NASA NTRS1994

Capaciflector camera

A capacitive type proximity sensor having improved range and sensitivity between a surface and an intruding object in the vicinity of the surface having a voltage source, a number of outer electrical conductors on the surface with each forming one electrode of a number of sensor capacitors, the other electrode for each sensor capacitor being the object. The outer conductors are made from thin sheets of conductive material covered with insulation. An intermediate electrical conductor is located between the outer conductors and the surface and is of a size larger than the outer conductors to act as a shield for reducing the parasitic capacitance between the outer conductors and the surface. The intermediate conductor is also made from a thin sheet of conductive material covered with insulation. The outer conductors and the intermediate conductor are attached to the surface with no gap between the insulation on the conductors and no gap between the surface and the insulation on intermediate conductor, the outer conductors and the intermediate conductor conjoining with each other and with the surface, with the surface acting as a ground plane. A current-measuring voltage follower circuit is connected to the voltage source for coupling in phase and amplitude the instantaneous voltage at the voltage source to the outer electrical conductors and the intermediate electrical conductor. This circuit is responsive to the change in capacitance of the sensor capacitors and generates a number of output signals.

Vranish, John M.↗

NASA NTRS1994

Geared Electromechanical Rotary Joint

Geared rotary joint provides low-noise ac or dc electrical contact between electrical subsystems rotating relative to each other. Designed to overcome some disadvantages of older electromechanical interfaces, especially intermittency of sliding-contact and rolling-contact electromechanical joints. Hollow, springy planetary gears provide continuous, redundant, low-noise electrical contact between inner and outer gears.

Vranish, John M.↗

NASA NTRS1994

Spline-Screw Payload-Fastening System

Payload handed off securely between robot and vehicle or structure. Spline-screw payload-fastening system includes mating female and male connector mechanisms. Clockwise (or counter-clockwise) rotation of splined male driver on robotic end effector causes connection between robot and payload to tighten (or loosen) and simultaneously causes connection between payload and structure to loosen (or tighten). Includes mechanisms like those described in "Tool-Changing Mechanism for Robot" (GSC-13435) and "Self-Aligning Mechanical and Electrical Coupling" (GSC-13430). Designed for use in outer space, also useful on Earth in applications needed for secure handling and secure mounting of equipment modules during storage, transport, and/or operation. Particularly useful in machine or robotic applications.

Vranish, John M.↗

NASA NTRS1994

Spline-Screw Multiple-Rotation Mechanism

Mechanism functions like combined robotic gripper and nut runner. Spline-screw multiple-rotation mechanism related to spline-screw payload-fastening system described in (GSC-13454). Incorporated as subsystem in alternative version of system. Mechanism functions like combination of robotic gripper and nut runner; provides both secure grip and rotary actuation of other parts of system. Used in system in which no need to make or break electrical connections to payload during robotic installation or removal of payload. More complicated version needed to make and break electrical connections. Mechanism mounted in payload.

Vranish, John M.↗

NASA NTRS1994

Flex-gear power transmission system for transmitting EMF between Sun and ring gears

A plurality of flexible cylindrical members, termed flex-gears and having gear tooth type perimeters are located in an annular space between two concentric rotating gear members, one an inner gear member and the other an outer ring gear member, both of which have mutually facing toothed surfaces which engage the flex-gears. The flex-gears rotate and orbit around the annular space as planetary gears when the inner and outer gear members rotate with respect to one another. Pairs of these elements located in two mutually parallel planes and separated by insulators provide two electrical conductor paths across which an electrical signal source, AC or DC, can be connected and coupled to an electrical device. Alternatively, one set of elements including outer gears segmented into mutually insulated semicircles and inner gears segmented into mutually insulated quadrants can be used.

Vranish, John M.↗

NASA NTRS1994

Capaciflector Camera

Sensing electrodes arranged in rows and columns used to generate capacitive images. Sensors of this type installed on robot arms, and three-dimensional capacitance images that they generate used by robot-control circuits to prevent collisions with capacitively sensed objects, to image and identify these objects, and to navigate amongst them.

Vranish, John M.↗

NASA NTRS1994

Capacitive Sensor With Driven Shields And Bridge Circuit

Like other capaciflectors described in prior articles in NASA Tech Briefs, this one includes sensing electrode driven by alternating voltage, giving rise to electric field in vicinity of electrode; object entering electric field detected by its effect on capacitance between sensing electrode and electrical ground. Also includes shielding electrode (in this case, driven shield 1), excited via voltage follower at same voltage as that applied to sensing electrode to concentrate more of electric field outward from sensing electrode, increasing sensitivity and range of sensor. Because shielding electrode driven via voltage follower, it does not present significant electrical load to source of alternating voltage.

Vranish, John M.↗

NASA NTRS1994

Tool-Changing Mechanism For Robot

Tool-changing mechanism for robotic applications effects secure handoff of tool between end effector of robot and yoke in which tool stowed when not in use. Operated in any orientation in normal or low gravitation. Imposes lesser constraints on design of robot and of tool because it is relatively compact and does not require large insertion forces and large actuators needed to produce them. Stored in zero g and survives launch loads.

Vranish, John M.↗

NASA NTRS1994

Electromagnetic brake/clutch device

An electromagnetic brake/clutch device includes a drive shaft supported by at least one bearing for transmitting torque, a housing, affixed to prevent its rotation, surrounding the drive shaft, and an electromagnetically activated device within the housing to selectively prevent and allow rotation of the drive shaft. The electromagnetically activated device includes a plurality of cammed rollers to prevent counter-clockwise rotation of the drive shaft. The drive shaft includes a circumferential disk and the housing includes a reaction ring for engagement with the plurality of cammed rollers. The plurality of cammed rollers are released from engagement with the circumferential disk and the reaction ring by a plurality of tripping mechanisms within the housing. The tripping action uses the locking force to act as a release force merely by changing the boundary conditions of the roller interface angles. The tripping mechanisms include trippers for disengaging the plurality of cammed rollers and an anvil shaped portion for providing lateral movement of the trippers. The plurality of cammed rollers is preloaded to engagement with the circumferential disk and reaction ring by a spring, and is located with respect to an adjacent tripping mechanism with another spring.

Vranish, John M.↗

NASA NTRS1993

Spline screw multiple rotations mechanism

A system for coupling two bodies together and for transmitting torque from one body to another with mechanical timing and sequencing is reported. The mechanical timing and sequencing is handled so that the following criteria are met: (1) the bodies are handled in a safe manner and nothing floats loose in space, (2) electrical connectors are engaged as long as possible so that the internal processes can be monitored throughout by sensors, and (3) electrical and mechanical power and signals are coupled. The first body has a splined driver for providing the input torque. The second body has a threaded drive member capable of rotation and limited translation. The embedded drive member will mate with and fasten to the splined driver. The second body has an embedded bevel gear member capable of rotation and limited translation. This bevel gear member is coaxial with the threaded drive member. A compression spring provides a preload on the rotating threaded member, and a thrust bearing is used for limiting the translation of the bevel gear member so that when the bevel gear member reaches the upward limit of its translation the two bodies are fully coupled and the bevel gear member then rotates due to the input torque transmitted from the splined driver through the threaded drive member to the bevel gear member. An output bevel gear with an attached output drive shaft is embedded in the second body and meshes with the threaded rotating bevel gear member to transmit the input torque to the output drive shaft.

Vranish, John M.↗

NASA NTRS1993

Phase-Discriminating Capacitive Sensor System

Crosstalk eliminated by maintaining voltages on all electrodes at same amplitude, phase, and frequency. Each output feedback-derived control voltage, change of which indicates proximity-induced change in capacitance of associated sensing electrode. Sensors placed close together, enabling imaging of sort. Images and/or output voltages used to guide robots in proximity to various objects.

Vranish, John M.↗

NASA NTRS1993

Trip Roller Clutch

Bidirectional roller-locking mechanism offers advantages of efficiency and controllability. Trip roller clutch contains back-to-back roller-locking, overrunning clutches released (tripped) with small magnetic forces. Designed to operate with lubricant. Unlike other friction-based devices, trip roller clutch remains cool during operation.

Vranish, John M.↗