Engineering topics

Vranish, John M.

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

At least 55 records · Page 3

NASA NTRS1993

Spline screw payload fastening system

A system for coupling an orbital replacement unit (ORU) to a space station structure via the actions of a robot and/or astronaut is described. This system provides mechanical and electrical connections both between the ORU and the space station structure and between the ORU and the ORU and the robot/astronaut hand tool. Alignment and timing features ensure safe, sure handling and precision coupling. This includes a first female type spline connector selectively located on the space station structure, a male type spline connector positioned on the orbital replacement unit so as to mate with and connect to the first female type spline connector, and a second female type spline connector located on the orbital replacement unit. A compliant drive rod interconnects the second female type spline connector and the male type spline connector. A robotic special end effector is used for mating with and driving the second female type spline connector. Also included are alignment tabs exteriorally located on the orbital replacement unit for berthing with the space station structure. The first and second female type spline connectors each include a threaded bolt member having a captured nut member located thereon which can translate up and down the bolt but are constrained from rotation thereabout, the nut member having a mounting surface with at least one first type electrical connector located on the mounting surface for translating with the nut member. At least one complementary second type electrical connector on the orbital replacement unit mates with at least one first type electrical connector on the mounting surface of the nut member. When the driver on the robotic end effector mates with the second female type spline connector and rotates, the male type spline connector and the first female type spline connector lock together, the driver and the second female type spline connector lock together, and the nut members translate up the threaded bolt members carrying the first type electrical connector up to the complementary second type connector for interconnection therewith.

Vranish, John M.↗

NASA NTRS1993

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 is described. 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 NTRS1993

Phase discriminating capacitive array sensor system

A phase discriminating capacitive sensor array system which provides multiple sensor elements which are maintained at a phase and amplitude based on a frequency reference provided by a single frequency stabilized oscillator. Sensor signals provided by the multiple sensor elements are controlled by multiple phase control units, which correspond to the multiple sensor elements, to adjust the sensor signals from the multiple sensor elements based on the frequency reference. The adjustment made to the sensor signals is indicated by output signals which indicate the proximity of the object. The output signals may also indicate the closing speed of the object based on the rate of change of the adjustment made, and the edges of the object based on a sudden decrease in the adjustment made.

Vranish, John M.↗

NASA NTRS1993

Magnetostrictive Roller-Drive Stepping Motor

Proposed motor based on magnetostrictive effect provides stepped angular motion with angular increments of order of 100 microradians. Driven to repeat stepping cycle rapidly enough to achieve maximum speed of about 20 rpm, provides torque an order of magnitude greater than electric motors, and brakes itself when power turned off. Magnetostrictive rods in electromagnet coils push against drive plate, causing it to rotate slightly. This slight rotation jams conical rollers between cam surfaces on outer drive ring and split drum, so rollers transmit rotation to drum. Suitable for precise, high-torque, fail-safe-braking, direct drive of robot joint, without bulk and weight of additional brake mechanism and gear train.

Vranish, John M.↗

NASA NTRS1993

Roller Locking Brake

Roller locking brake is normally braking rotary mechanism allowing free rotation when electromagnet in mechanism energized. Well suited to robots and other machinery which automatic braking upon removal of electrical power required. More compact and reliable. Requires little electrical power to maintain free rotation and exhibits minimal buildup of heat.

Vranish, John M.↗

NASA NTRS1993

Self-Aligning Mechanical And Electrical Coupling

Two mating assemblies of mechanical and electrical coupling designed to align itself and so easy to use that robot can operate it. Rollers and v-grooves enforce required alignment when upper and lower assemblies brought into firm contact. Mechanism inside lower assembly provides spring preload between two assemblies plus mating of electrical connectors, all actuated by rotation of driver engaged with bolt via splines.

Vranish, John M.↗

NASA NTRS1993

Double-driven shield capacitive type proximity sensor

A capacity type proximity sensor comprised of a capacitance type sensor, a capacitance type reference, and two independent and mutually opposing driven shields respectively adjacent to the sensor and reference and which are coupled in an electrical bridge circuit configuration and driven by a single frequency crystal controlled oscillator is presented. The bridge circuit additionally includes a pair of fixed electrical impedance elements which form adjacent arms of the bridge and which comprise either a pair of precision resistances or capacitors. Detection of bridge unbalance provides an indication of the mutual proximity between an object and the sensor. Drift compensation is also utilized to improve performance and thus increase sensor range and sensitivity.

Vranish, John M.↗

NASA NTRS1992

Rolling-Friction Robotic Gripper

Robotic gripper using rolling-friction fingers closes in on object with interface designed to mate with rollers somewhat misaligned initially, aligns object with respect to itself, then holds object securely in uniquely determined position and orientation. Operation of gripper causes minimal wear and burring of gripper and object. Exerts minimal friction forces on object when grasping and releasing. Releases object easily and reliably even when side forces and torques are between itself and object.

Vranish, John M.↗

NASA NTRS1992

Capacitive Proximity Sensor Has Longer Range

Capacitive proximity sensor on robot arm detects nearby object via capacitive effect of object on frequency of oscillator. Sensing element part of oscillator circuit operating at about 20 kHz. Total capacitance between sensing element and ground constitutes tuning capacitance of oscillator. Sensor circuit includes shield driven by replica of alternating voltage applied to sensing element. Driven shield concentrates sensing electrostatic field in exterior region to enhance sensitivity to object. Sensitivity and dynamic range has corresponding 12-to-1 improvement.

Vranish, John M.↗

NASA NTRS1992

Dual-Roll Robotic Wrist-Joint Assembly

Compact robotic wrist-joint assembly includes two motor subassemblies providing two concentric output rotations about axis of wrist: outer output flange on front face of assembly rotated to, and held at, any predetermined roll angle within range of plus or minus 180 degrees, and inner output flange concentric with outer output flange capable of unlimited rotation relative to outer flange. Each motor subassembly includes concentric rotor and stator and harmonic drive.

Vranish, John M.↗

NASA NTRS1992

Self-Aligning, Spline-Locking Fastener

Self-aligning, spline-locking fastener is two-part mechanism operated by robot, using one tool and simple movements. Spline nut on springloaded screw passes through mating spline fitting. Operator turns screw until vertical driving surfaces on spline nut rest against corresponding surfaces of spline fitting. Nut rides upward, drawing pieces together. Used to join two parts of structure, to couple vehicles, or to mount payload in vehicle.

Vranish, John M.↗

NASA NTRS1992

Rolling friction robot fingers

A low friction, object guidance, and gripping finger device for a robotic end effector on a robotic arm is disclosed, having a pair of robotic fingers each having a finger shaft slideably located on a gripper housing attached to the end effector. Each of the robotic fingers has a roller housing attached to the finger shaft. The roller housing has a ball bearing mounted centering roller located at the center, and a pair of ball bearing mounted clamping rollers located on either side of the centering roller. The object has a recess to engage the centering roller and a number of seating ramps for engaging the clamping rollers. The centering roller acts to position and hold the object symmetrically about the centering roller with respect to the X axis and the clamping rollers act to position and hold the object with respect to the Y and Z axis.

Vranish, John M.↗

NASA NTRS1992

Spline-locking screw fastening strategy

A fastener was developed by NASA Goddard for efficiently performing assembly, maintenance, and equipment replacement functions in space using either robotics or astronaut means. This fastener, the 'Spline Locking Screw' (SLS) would also have significant commercial value in advanced space manufacturing. Commercial (or DoD) products could be manufactured in such a way that their prime subassemblies would be assembled using SLS fasteners. This would permit machines and robots to disconnect and replace these modules/parts with ease, greatly reducing life cycle costs of the products and greatly enhancing the quality, timeliness, and consistency of repairs, upgrades, and remanufacturing. The operation of the basic SLS fastener is detailed, including hardware and test results. Its extension into a comprehensive fastening strategy for NASA use in space is also outlined. Following this, the discussion turns toward potential commercial and government applications and the potential market significance of same.

Vranish, John M.↗

NASA NTRS1992

Advanced mechanisms for robotics

An overview of applied research and development at NASA-Goddard (GSFC) on mechanisms and the collision avoidance skin for robots is presented. First the work on robot end effectors is outlined, followed by a brief discussion on robot-friendly payload latching mechanisms and compliant joints. This, in turn, is followed by the collision avoidance/management skin and the GSFC research on magnetostrictive direct drive motors. Finally, a new project, the artificial muscle, is introduced. Each of the devices is described in sufficient detail to permit a basic understanding of its purpose, fundamental principles of operation, and capabilities. In addition, the development status of each is reported along with descriptions of breadboards and prototypes and their test results. In each case, the implications of the research for commercialization is discussed. The chronology of the presentation will give a clear idea of both the evolution of the R&D in recent years and its likely direction in the future.

Vranish, John M.↗

NASA NTRS1991

Spline-Locking Screw Fastening Strategy (SLSFS)

A fastener was developed by NASA Goddard for efficiently performing assembly, maintenance, and equipment replacement functions in space using either robotic or astronaut means. This fastener, the 'Spline Locking Screw' (SLS) would also have significant commercial value in advanced manufacturing. Commercial (or DoD) products could be manufactured in such a way that their prime subassemblies would be assembled using SLS fasteners. This would permit machines and robots to disconnect and replace these modules/parts with ease, greatly reducing life cycle costs of the products and greatly enhancing the quality, timeliness, and consistency of repairs, upgrades, and remanufacturing. The operation of the basic SLS fastener is detailed, including hardware and test results. Its extension into a comprehensive fastening strategy for NASA use in space is also outlined. Following this, the discussion turns toward potential commercial and government applications and the potential market significance of same.

Vranish, John M.↗

NASA NTRS1991

Commercial Capaciflector

A capacitive proximity/tactile sensor with unique performance capabilities ('capaciflector' or capacitive reflector) is being developed by NASA/Goddard Space Flight Center (GSFC) for use on robots and payloads in space in the interests of safety, efficiency, and ease of operation. Specifically, this sensor will permit robots and their attached payloads to avoid collisions in space with humans and other objects and to dock these payloads in a cluttered environment. The sensor is simple, robust, and inexpensive to manufacture with obvious and recognized commercial possibilities. Accordingly, NASA/GSFC, in conjunction with industry, is embarking on an effort to 'spin' this technology off into the private sector. This effort includes prototypes aimed at commercial applications. The principles of operation of these prototypes are described along with hardware, software, modelling, and test results. The hardware description includes both the physical sensor in terms of a flexible printed circuit board and the electronic circuitry. The software description will include filtering and detection techniques. The modelling will involve finite element electric field analysis and will underline techniques used for design optimization.

Vranish, John M.↗

NASA NTRS1991

Viselike Robotic Gripper

Split-rail/roller bearing system minimizes both friction and jamming under side loads. Viselike, high-performance, general-purpose robot hand developed for use in both industry and outer space. Device, called "split-rail parallel gripper", is simple, compact, inexpensive, rugged, light enough to be used on small robots, strong enough to be used on large robots to lift loads up to 100 lbs, and capable of gripping objects up to 7 in. wide.

Vranish, John M.↗

NASA NTRS1991

Advanced mechanisms for robotics

An overview of applied research and development at the Goddard Space Flight Center (GSFC) on mechanisms and collision avoidance skin for robots is presented. The work on robot end effectors is outlined, followed by a brief discussion of robot-friendly payload latching mechanisms and compliant joints. This is followed by discussions of the collision avoidance/management skin and the GSFC research on magnetorestrictive direct drive motors. A new project, the artificial muscle, is introduced. Each of the devices is described sufficiently to permit a basic understanding of its purpose, capabilities, and operating fundamentals. The implications for commercialization are discussed.

Vranish, John M.↗