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At least 199 records · Page 11

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NASA NTRS1984

The design and development of a release mechanism for space shuttle life-science experiments

The design, development, and testing of a release mechanism for use in two life science experiments on the Spacelab 1, 4, and D1 missions is described. The mechanism is a self latching ball lock device actuated by a linear solenoid. An unusual feature is the tapering of the ball lock plunger to give it a near constant breakout force for release under a wide range of loads. The selection of the design, based on the design requirements, is discussed. A number of problems occurred during development and test, including problems caused by human factors that became apparent after initial delivery for crewtraining sessions. These problems and their solutions are described to assist in the design and testing of similar mechanisms.

Jones, H. M.↗

NASA NTRS1988

Monocoque structure for the SKITTER three-legged walker

The SKITTER 2 design is a monocoque version of the proposed lunar three-legged walker. By the definition of monocoque, the body and legs are a shell with no internal ribbing or supports added for absorbing stresses. The purpose of the monocoque is to encase the elements used for power transmission, power supply, and control of the motion. The material for the structure is a vinyl ester resin, Derakane 8084. This material is easily formable and locally obtainable. The body consists of a hexagonally shaped cylinder with truncated hexagonal pyramids on the top and botton. The legs are eight inch diameter cylinders. The legs are comprised of a tibia section and a femur section. The SKITTER 2 is powered by six actuators which provide linear forces that are transformed into rotary torques by a series of chains and sprockets. The joints connect the femur to the body and the tibia to the femur. Surrounding the joints are flexible rubber hoses that fully encase the chains and sprockets. The SKITTER 2 is capable of walking upside down, righting itself after being overturned, and has the ability to perform in many environments. Applications for this walker include lunar transport or drilling, undersea exploration, and operation in severe surroundings such as arctic temperatures or high radiation.

Bansek, Robert N.↗

NASA NTRS1990

Experimental demonstration of active vibration control for flexible structures

Active vibration control of flexible structures for future space missions is addressed. Three experiments that successfully demonstrate control of flexible structures are described. The first is the pendulum experiment. The structure is a 5-m compound pendulum and was designed as an end-to-end test bed for a linear proof mass actuator and its supporting electronics. Experimental results are shown for a maximum-entropy/optimal-projection controller designed to achieve 5 percent damping in the first two pendulum modes. The second experiment was based upon the Harris Multi-Hex prototype experiment (MHPE) apparatus. This is a large optical reflector structure comprising a seven-panel array and supporting truss which typifies a number of generic characteristics of large space systems. The third experiment involved control design and implementation for the ACES structure at NASA Marshall Space Flight Center. The authors conclude with some remarks on the lessons learned from conducting these experiments.

Phillips, Douglas J.↗

NASA NTRS1992

Application of piezoelectric devices to vibration suppression - From modeling and controller designs to implementation

Embedded piezoelectric devices may be ideally suited for vibration control of space structures, which lack an inertial ground. When subjected to an input voltage, an embedded piezoelectric actuator changes its dimensions, which in turn generates a pair of forces exerted on adjacent structural members. From the direct piezoelectric effect, an embedded piezoelectric transducer generates an electric charge proportional to the structural dynamic response. In this paper, the implementation, testing and modeling of an active truss structure consisting of piezoelectric sensors and actuators are described. Linear quadratic Gaussian (LQG), second-order, and direct rate feedback control schemes are designed to suppress the vibrations of the active structure. Simulation and test results are presented. It is shown that special model reduction considerations are required to achieve good correlation between test and analysis.

Won, Chin C.↗

NASA NTRS2001

Compact Dexterous Robotic Hand

A compact robotic hand includes a palm housing, a wrist section, and a forearm section. The palm housing supports a plurality of fingers and one or more movable palm members that cooperate with the fingers to grasp and/or release an object. Each flexible finger comprises a plurality of hingedly connected segments, including a proximal segment pivotally connected to the palm housing. The proximal finger segment includes at least one groove defining first and second cam surfaces for engagement with a cable. A plurality of lead screw assemblies each carried by the palm housing are supplied with power from a flexible shaft rotated by an actuator and output linear motion to a cable move a finger. The cable is secured within a respective groove and enables each finger to move between an opened and closed position. A decoupling assembly pivotally connected to a proximal finger segment enables a cable connected thereto to control movement of an intermediate and distal finger segment independent of movement of the proximal finger segment. The dexterous robotic hand closely resembles the function of a human hand yet is light weight and capable of grasping both heavy and light objects with a high degree of precision.

Lovchik, Christopher Scott↗

NASA NTRS1995

(abstract) Characterization of Structural Response for Systems with Loose Joints

This paper describes a technique to locate and characterize loose joints in a large truss structure to generate an accurate structural model. The joint looseness is modeled as a gap in the member that opens and closes depending on the loading. Arbitrarily placed actuators are used to prestress the structure to first linearize the response. Next the actuator displacements are systematically reduced while monitoring the displacement response. The gap locations are determined by comparing the measured displacements with sets of calculated displacements and the sizes are estimated by monitoring the gap member length changes using the appropriate linear force-displacement relationship for the load level. The effect of measurement error in the truss displacements and the actuator length changes are investigated.

truss structures loose joints displacements actuat↗

NASA NTRS1997

LQR Control of Shell Vibrations Via Piezoceramic Actuators

A model-based Linear Quadratic Regulator (LQR) method for controlling vibrations in cylindrical shells is presented. Surface-mounted piezo-ceramic patches are employed as actuators which leads to unbounded control input operators. Modified Donnell-Mushtari shell equations incorporating strong or Kelvin-Voigt damping are used to model the system. The model is then abstractly formulated in terms of sesquilinear forms. This provides a framework amenable for proving model well-posedness and convergence of LQR gains using analytic semigroup results combined with LQR theory for unbounded input operators. Finally, numerical examples demonstrating the effectiveness of the method are presented.

delRosario, R. C. H.↗

NASA NTRS1993

A gimbaled low noise momentum wheel

The bus actuators are the heart and at the same time the Achilles' heel of accurate spacecraft stabilization systems, because both their performance and their perturbations can have a deciding influence on the achievable pointing accuracy of the mission. The main task of the attitude actuators, which are mostly wheels, is the generation of useful torques with sufficiently high bandwidth, resolution and accuracy. This is because the bandwidth of the whole attitude control loop and its disturbance rejection capability is dependent upon these factors. These useful torques shall be provided, without - as far as possible - parasitic noise like unbalance forces and torques and harmonics. This is because such variable frequency perturbations excite structural resonances which in turn disturb the operation of sensors and scientific instruments. High accuracy spacecraft will further require bus actuators for the three linear degrees of freedom (DOF) to damp structural oscillations excited by various sources. These actuators have to cover the dynamic range of these disturbances. Another interesting feature, which is not necessarily related to low noise performance, is a gimballing capability which enables, in a certain angular range, a three axis attitude control with only one wheel. The herein presented Teldix MWX, a five degree of freedom Magnetic Bearing Momentum Wheel, incorporates all the above required features. It is ideally suited to support, as a gyroscopic actuator in the attitude control system, all High Pointing Accuracy and Vibration Sensitive space missions.

Bichler, U.↗

NASA NTRS2012

Miniaturization of Planar Horn Motors

There is a great need for compact, efficient motors for driving various mechanisms including robots or mobility platforms. A study is currently underway to develop a new type of piezoelectric actuators with significantly more strength, low mass, small footprint, and efficiency. The actuators/motors utilize piezoelectric actuated horns which have a very high power density and high electromechanical conversion efficiency. The horns are fabricated using our recently developed novel pre-stress flexures that make them thermally stable and increases their coupling efficiency. The monolithic design and integrated flexures that pre-stresses the piezoelectric stack eliminates the use of stress bolt. This design allows embedding solid-state motors and actuators in any structure so that the only macroscopically moving parts are the rotor or the linear translator. The developed actuator uses a stack/horn actuation and has a Barth motor configuration, which potentially generates very large torque and speeds that do not require gearing. Finite element modeling and design tools were investigated to determine the requirements and operation parameters and the results were used to design and fabricate a motor. This new design offers a highly promising actuation mechanism that can potentially be miniaturized and integrated into systems and structures. It can be configured in many shapes to operate as multi-degrees of freedom and multi-dimensional motors/actuators including unidirectional, bidirectional, 2D and 3D. In this manuscript, we are reporting the experimental measurements from a bench top design and the results from the efforts to miniaturize the design using 2x2x2 mm piezoelectric stacks integrated into thin plates that are of the order of3 x 3x 0.2 cm.

horn actuation↗

NASA NTRS2009

Thermostatic Valves Containing Silicone-Oil Actuators

Flow-splitting and flow-mixing thermally actuated spool valves have been developed for controlling flows of a heat-transfer fluid in a temperature-regulation system aboard the Mars Science Laboratory (MSL) rover. Valves like these could also be useful in terrestrial temperature-regulation systems, including automobile air-conditioning systems and general refrigeration systems. These valves are required to provide smoother actuation over a wider temperature range than the flow-splitting, thermally actuated spool valves used in the Mars Explorer Rover (MER). Also, whereas the MER valves are unstable (tending to oscillate) in certain transition temperature ranges, these valves are required not to oscillate. The MER valves are actuated by thermal expansion of a wax against spring-loaded piston rods (as in common automotive thermostats). The MSL valves contain similar actuators that utilize thermal expansion of a silicone oil, because silicone-oil actuators were found to afford greater and more nearly linear displacements, needed for smoother actuation, over the required wider temperature range. The MSL valves also feature improved spool designs that reflect greater understanding of fluid dynamics, consideration of pressure drops in valves, and a requirement for balancing of pressures in different flow branches.

Bhandari, Pradeep↗

NASA NTRS2024

MSFC-TVC | TB-03: Derivation of Thrust Vector Control (TVC) Actuator-Force / Gimbal-Torque Transformation Matrix

Thrust vector control (TVC) systems for rocket engine propulsion traditionally use a simple linear relationship to convert between actuator forces and torques about the engine gimbal’s center-of-rotation (COR). As shown in Equation (1), the torque about the gimbal COR is proportional to the applied actuator force and the TVC moment arm (MA)—the perpendicular distance between the TVC actuator’s line-of-action (LOA) and the engine gimbal’s COR. While this fundamental relationship remains valid and accurate in a two-dimensional (2D), one-degree-of-freedom (1-DOF) context—particularly in its non-linear formulation as described in the ER63 Technical Bulletin TB-02 (Derivation of Thrust Vector Control (TVC) Engine-Gimbal / Actuator Moment-Arm Geometry)—it becomes limited when extended to three-dimensional (3D), two-degree-of-freedom (2-DOF) analyses. In 3D, out-of-plane angular displacements can arise, causing the gimbaled engine plane-of-motion to become non-coplanar with the respective actuator plane-of-motion. Such misalignments occur due to the rod-end (RE) and/or tail-stock (TE) mounting geometry of individual TVC actuators. These geometric complexities lead to inaccuracies in calculating engine torques and corresponding actuator forces if only the traditional TVC MA relationship is employed. For higher gimbal angular displacements (e.g., greater than 5 degrees), these inaccuracies become more pronounced, necessitating a more robust mathematical framework. This document presents a comprehensive 3D (2-DOF) derivation of a transformation matrix that accurately converts between gimbaled engine torques and TVC actuator forces. By incorporating the necessary geometric and rotational considerations, this new approach corrects the limitations of the traditional TVC MA method. Subsequent sections compare the newly formulated approach to the traditional method, demonstrating its enhanced accuracy and reliability for a broad range of gimbaled engine conditions.

Thrust Vector Control↗

NASA NTRS1997

Piezoelectric Power Requirements for Active Vibration Control

This paper presents a method for predicting the power consumption of piezoelectric actuators utilized for active vibration control. Analytical developments and experimental tests show that the maximum power required to control a structure using surface-bonded piezoelectric actuators is independent of the dynamics between the piezoelectric actuator and the host structure. The results demonstrate that for a perfectly-controlled system, the power consumption is a function of the quantity and type of piezoelectric actuators and the voltage and frequency of the control law output signal. Furthermore, as control effectiveness decreases, the power consumption of the piezoelectric actuators decreases. In addition, experimental results revealed a non-linear behavior in the material properties of piezoelectric actuators. The material non- linearity displayed a significant increase in capacitance with an increase in excitation voltage. Tests show that if the non-linearity of the capacitance was accounted for, a conservative estimate of the power can easily be determined.

Brennan, Matthew C.↗

NASA NTRS2005

Mechanically Biased, Hinged Pairs of Piezoelectric Benders

The upper part of the figure depicts an actuator that comprises two mechanically biased piezoelectric benders hinged together at their ends and equipped with tabs at their mid-length points for attachment to the relatively moving objects that are to be actuated. In the example of the figure, the attachment tabs are labeled to indicate that the actuator is used to drive a pump piston relative to a base plate. Actuators of this type could be used to drive low-power, small-volume pumps in consumer, medical, and aerospace applications, and to generate and measure linear displacements in such robotic applications as teleoperation and tactile feedback. Each bender is a bimorph a unitary plate that comprises an upper and a lower piezoelectric layer plus electrode layers. Benders may also be made of several layers arranged to produce the same effect at the lower operating voltages. As stated above, each bender is mechanically biased; it is fabricated to have a small permanent curvature (the bias curvature) in the absence of applied voltage. As on other bimorphs, the electrical connections on each bender are arranged so that an applied voltage of suitable polarity causes the upper layer to expand and the lower layer to contract. In this case, the net effect of applying the voltage is that the plate becomes more concave as viewed from below. Conversely, an applied voltage of the opposite polarity causes the plate to become less concave as viewed from below. The benders in a hinged pair are oriented with their bias curvatures concave inward, so that there is a bias distance between the attachment tabs. The two benders are connected electrically in parallel, with their connection polarities chosen so that an applied voltage of one polarity causes both benders to become more convex inward (more bent), while an applied voltage of the opposite polarity causes both benders to become less convex inward (less bent). An increase or decrease in bend is accompanied by an increase or decrease in distance between the attachment tabs; this increase or decrease is the linear displacement desired for actuation. Because the displacement can be either positive or negative relative to the bias distance, depending on the polarity of the applied voltage, the overall stroke achievable for a given magnitude of applied voltage is double the stroke achievable in the absence of mechanical bias. Each hinged pair can be regarded as a unit cell that can serve as a building block for a larger actuator: Multiple unit cells can be stacked (mechanically connected in series), as shown in the lower part of the figure, and electrically connected in parallel to multiply the overall stroke achievable at a given applied voltage.

Sager, Frank E.↗

NASA NTRS1994

Active Inertial Vibration Isolators And Dampers

Report describes development of active inertial vibration isolators and dampers in which actuators electromagnet coils moving linearly within permanent magnetic fields in housings, somewhat as though massive, low-frequency voice coils in loudspeakers. Discusses principle of operation, electrical and mechanical considerations in design of actuators, characteristics of accelerometers, and frequency responses of control systems. Describes design and performance of one- and three-degree-of-freedom vibration-suppressing system based on concept.

Laughlin, Darren↗

NASA NTRS1991

Structural load control during construction

The topics are presented in viewgraph form and include the following: examples of high transient loadings on large space structures; energy absorbing/load limiting strut research objectives; scope of research on energy absorbing struts to date; energy characteristics of cantilevered trusses with a tip load; ten bay long resilient truss example; stored energy characteristics of one meter deep truss; energy absorbing potential for 10-bay 5-meter deep truss; schematic of energy absorbing strut; linear load and motion control actuator; rigid body response of a solar array to the shuttle thruster pressure impingement; solar array piecewise linear response; solar array characteristics; solar array tip deflection and required actuator stroke; solar array response from finite element analysis; 12 bay energy absorbing test bed dynamics; and new AERO-Lab with 12-bay test beam.

Mikulas, Martin↗

NASA NTRS1991

Permanent magnet flux-biased magnetic actuator with flux feedback

The invention is a permanent magnet flux-biased magnetic actuator with flux feedback for adjustably suspending an element on a single axis. The magnetic actuator includes a pair of opposing electromagnets and provides bi-directional forces along the single axis to the suspended element. Permanent magnets in flux feedback loops from the opposing electromagnets establish a reference permanent magnet flux-bias to linearize the force characteristics of the electromagnets to extend the linear range of the actuator without the need for continuous bias currents in the electromagnets.

Groom, Nelson J.↗

NASA NTRS2005

Adaptive Failure Compensation for Aircraft Flight Control Using Engine Differentials: Regulation

The problem of using engine thrust differentials to compensate for rudder and aileron failures in aircraft flight control is addressed in this paper in a new framework. A nonlinear aircraft model that incorporates engine di erentials in the dynamic equations is employed and linearized to describe the aircraft s longitudinal and lateral motion. In this model two engine thrusts of an aircraft can be adjusted independently so as to provide the control flexibility for rudder or aileron failure compensation. A direct adaptive compensation scheme for asymptotic regulation is developed to handle uncertain actuator failures in the linearized system. A design condition is specified to characterize the system redundancy needed for failure compensation. The adaptive regulation control scheme is applied to the linearized model of a large transport aircraft in which the longitudinal and lateral motions are coupled as the result of using engine thrust differentials. Simulation results are presented to demonstrate the effectiveness of the adaptive compensation scheme.

Yu, Liu↗

NASA NTRS2012

Actuation Using Piezoelectric Materials: Application in Augmenters, Energy Harvesters, and Motors

Piezoelectric actuators are used in many manipulation, movement, and mobility applications as well as transducers and sensors. When used at the resonance frequencies of the piezoelectric stack, the actuator performs at its maximum actuation capability. In this Space Grant internship, three applications of piezoelectric actuators were investigated including hammering augmenters of rotary drills, energy harvesters, and piezo-motors. The augmenter shows improved drill performance over rotation only. The energy harvesters rely on moving fluid to convert mechanical energy into electrical power. Specific designs allow the harvesters more freedom to move, which creates more power. The motor uses the linear movement of the actuator with a horn applied to the side of a rotor to create rotational motion. Friction inhibits this motion and is to be minimized for best performance. Tests and measurements were made during this internship to determine the requirements for optimal performance of the studied mechanisms and devices.

drills↗