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Display combines bar charts, vector diagrams, and numerical values to inform operator of forces and torques exerted by end effector of manipulator. On voice or keyboard command, eight-channel strip-chart recorder traces force and torque components and claw position of raw measurements from eight strain gage sensors in end effector. Especially helpful when operator's view of end effector is obscured.
The absence of craters noted on Voyager 2 images of Encedalus indicates geologically recent resurfacing, probably due to internal melting; heating mechanism calculations, however, yield heating rates too small to cause melting. If Janus, whose orbital mean motion is currently decreasing as Janus' orbit evolves outward due to resonant torques from Saturn's rings, were ever to become locked into a stable 2:1 orbital commensurability with Encedalus, the resulting angular momentum transfer could have sufficiently enhanced the eccentricity of Encedalus' orbit for the ensuing tidal heating to have melted Encedalus' interior. However, the predicted rapid time scale for ring evolution due to resonant torques from Saturn's inner moons remains a major problem.
Torque channels function cooperatively but electrically independent for reliability. Brushless, electronically-commutated dc motor sums electromagnetic torques on four channels and applies them to single shaft. Motor operates with any combination of channels and continues if one or more of channels fail electrically. Motor employs single stator and rotor and mechanically simple; however, each of channels electrically isolated from other so that failure of one does not adversely affect others.
A series of torque tests were performed on four flight-type hex ball universal joints in order to characterize and determine the actual load-carrying capability of this device. The universal joint is a part of manual actuation rods for scientific instruments within the Hubble Space Telescope. It was found that the hex ball will bind slightly during the initial load application. This binding did not affect the function of the universal joint, and the units would wear-in after a few additional loading cycles. The torsional yield load was approximately 50 ft-lb, and was consistent among the four test specimens. Also, the torque required to cause complete failure exceeded 80 ft-lb. It is concluded that the hex ball universal joint is suitable for its intended applications.
To permit investigation of the relative effects of higher-order terms in the potential function and allow computation of the gravity gradient torques consistent with the gravitational acceleration for a given potential function, a simple formula is derived for computing the gravity gradient torque on a vehicle in terms of the eigenvalues and eigenvectors of the gravity gradient matrix and the inertia properties of the vehicle. The formulation is applicable to any potential function for which the gravity matrix can be computed for a given point in the potential field.
The results of a two-phase contract studying the feasibility of a miniaturized six component force-torque sensor and development of a working laboratory system were described. The principle of operation is based upon using ultrasonic pulse-echo ranging to determine the position of ultrasonic reflectors attached to a metal or ceramic cover plate. Because of the small size of the sensor, this technology may have application in robotics, to sense forces and torques at the finger tip of a robotic end effector. Descriptions are included of laboratory experiments evaluating materials and techniques for sensor fabrication and of the development of support electronics for data acquisition, computer interface, and operator display.
The differential torque exerted by Lindblad resonances on a perturbing object embedded in a two-dimensional nonself-gravitating disk with density, pressure and sound speed gradients is quantified. First-order corrections are made to account for Keplerian rotation and the presence of the gradients. The total torque is calculated by summing over all resonances in the absence of local wave damping. When applied to the primordial solar nebula disk, the calculations show that disks that cool with increasing heliocentric distance will cause decay of the orbit of the perturbing object. Conditions in which the perturber will escape orbit delay are also described. The characteristic drift time will be no greater than the stochastic accretion time scales. Implications of the calculations for planetary formation are discussed.
Fixed magnetic pins reduce reluctance of gap in magnetic coupling. Concentrate flux and increase torque transmitted. Coupling arranged as face or radial drive. Addition of flux pins to gap between magnetically coupled shafts in bioreactor experiment increases transferred torque by almost 50 percent.
The contribution of a pressure gradient torque to the angular momentum transfer rate in highly supersonic nonaxisymmetric accretion flows is considered. This study takes into account the contribution due to the pressure variation in the postaccretion-shock region which is significant for high Mach number accretion. For the case of accretion flow with Mach (infinity) of not less than 5, the overall accretion torque is shown to approach a constant value.
The effect of a continuous 30-d-long 6-deg headdown bedrest (BR) on the force output ability of skeletal muscles was investigated in human subjects by measuring peak angle specific torque of the knee extensor (KE) and knee flexor (KF) muscle groups of both limbs during unilateral efforts at four speeds (0.52. 1.74, 2.97, and 4.19 rad/sec) during eccentric action. It was found that, for the KE muscle group, the headdown BR resulted in decreases, by 19 percent on the average, of peak angle specific torque; on the other hand, the strength of the KF muscles was not altered significantly. A post-BR recovery for 30 days was found to restore muscle strength of the KE muscle group to about 92 percent of the pre-BR values. Changes of strength were not affected by the type of speed of muscle action.
Magnetic torquing of spacecraft has been an important mechanism for attitude control since the earliest satellites were launched. Typically a magnetic control system has been used for precession/nutation damping for gravity-gradient stabilized satellites, momentum dumping for systems equipped with reaction wheels, or momentum-axis pointing for spinning and momentum-biased spacecraft. Although within the small satellite community there has always been interest in expensive, light-weight, and low-power attitude control systems, completely magnetic control systems have not been used for autonomous three-axis stabilized spacecraft due to the large computational requirements involved. As increasingly more powerful microprocessors have become available, this has become less of an impediment. These facts have motivated consideration of the all-magnetic attitude control system presented here. The problem of controlling spacecraft attitude using only magnetic torquing is cast into the form of the Linear Quadratic Regulator (LQR), resulting in a linear feedback control law. Since the geomagnetic field along a satellite trajectory is not constant, the system equations are time varying. As a result, the optimal feedback gains are time-varying. Orbit geometry is exploited to treat feedback gains as a function of position rather than time, making feasible the onboard solution of the optimal control problem. In simulations performed to date, the control laws have shown themselves to be fairly robust and a good candidate for an onboard attitude control system.
A fiber optic sensor which enables noncontact measurement of the speed, torque and power of a rotating shaft was fabricated and tested. The sensor provides a direct measurement of shaft rotational speed and shaft angular twist, from which torque and power can be determined. Angles of twist between 0.005 and 10 degrees were measured. Sensor resolution is limited by the sampling rate of the analog to digital converter, while accuracy is dependent on the spot size of the focused beam on the shaft. Increasing the sampling rate improves measurement resolution, and decreasing the focused spot size increases accuracy. Digital processing allows for enhancement of an electronically or optically degraded signal.
The unified approach to solving free-floating space robot manipulator end-point control problems is presented using a control formulation based on an extension of computed torque. Once the desired end-point accelerations have been specified, the kinematic equations are used with momentum conservation equations to solve for the joint accelerations in any of the robot's possible configurations: fixed base or free-flying with open/closed chain grasp. The joint accelerations can then be used to calculate the arm control torques and internal forces using a recursive order N algorithm. Initial experimental verification of these techniques has been performed using a laboratory model of a two-armed space robot. This fully autonomous spacecraft system experiences the drag-free, zero G characteristics of space in two dimensions through the use of an air cushion support system. Results of these initial experiments are included which validate the correctness of the proposed methodology. The further problem of control in the large where not only the manipulator tip positions but the entire system consisting of base and arms must be controlled is also presented. The availability of a physical testbed has brought a keener insight into the subtleties of the problem at hand.
A fiber optic sensor which enables noncontact measurement of the speed, torque and power of a rotating shaft was fabricated and tested. The sensor provides a direct measurement of shaft rotational speed and shaft angular twist, from which torque and power can be determined. Angles of twist between 0.005 and 10 degrees were measured. Sensor resolution is limited by the sampling rate of the analog to digital converter, while accuracy is dependent on the spot size of the focused beam on the shaft. Increasing the sampling rate improves measurement resolution, and decreasing the focused spot size increases accuracy. Digital processing allows for enhancement of an electronically or optically degraded signal.
The large-angle maneuvering of a Shuttle-beam-reflector spacecraft in the plane of a circular earth orbit is examined by considering the effects of the structural offset connection, the axial shortening, and the gravitational torque on the slewing motion. The offset effect is analyzed by changing the attachment point of the reflector to the beam. As the attachment point is moved away from the mass center of the reflector, the responses of the nonlinear system deviate from those of the linearized system. The axial geometric shortening effect induced by the deformation of the beam contributes to the system equations through second order terms in the modal amplitudes and rates. The gravitational torque effect is relatively small.
The torque and flow ripple effects which result when multiple hydraulic motors are used to drive a single motion of a mechanical device can significantly affect the way in which the device performs. This article presents a mathematical model describing the torque and flow ripple effects of a bent-axis hydraulic piston motor. The model is used to show how the ripple magnitude can be reduced when multiple motors are used to drive a motion. A discussion of the hydraulic servo system of the 70-m antennas located with the Deep Space Network is included to demonstrate the application of the concepts presented.
An analysis is made of the influence on autogiro rotor characteristics of a periodic blade twist that varies with the azimuth position of the rotor blade and the results are compared with experimental data. The analysis expresses the influence of this type of twist upon the thrust, torque, and flapping motion of the rotor. The check against experimental data shows that the periodic twist has a pronounced influence on the flapping motion and that this influence is accurately predicted by the analysis. The influence of the twist upon the thrust and torque could be demonstrated only indirectly, but its importance is indicated.
Two improvements have been made in the method developed in NACA Reports nos. 487 and 591 for the estimation of the inflow velocity required to overcome a given decelerating torque in an autogiro rotor. At low tip-speed ratios, where the assumptions necessary for the analytical integrations of the earlier papers are valid, the expressions therein derived are greatly simplified by combining and eliminating terms with a view of minimizing the numerical computations required. At high tip-speed ratios, by means of charts based on graphical integrations, errors inherent in the assumptions associated with the analytical method are largely eliminated. The suggested method of estimating the inflow velocity presupposes a knowledge of the decelerating torque acting on the rotor; all available full-scale experimental information on this subject is included.