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Rotational alinement not critical in design useful for remote manipulators. Plug and socket pushed together, plug rings deflect spring segments of corresponding socket ring. Particularly suitable for remote manipulators and making connections in "blind" locations.
Two series of saturated hydrocarbon-based urethanes were prepared with isophorone diisocyanate and one series with methyl bis (4-cyclohexyl isocyanate). The urethanes with molecular weights as great as 2500 had viscosities low enough and a working life long enough to be used in potting, molding, and coating applications. Specimens were prepared and mechanical properties such as hardness, tensile strength elongation, and tear strength were determined. Thermomechanical properties (glass transition and expansion coefficient) and thermogravimetric properties were determined.
Device alines plug and receptacle axially and radially. Standard multiple-pin plug and socket mounted in mechanism. As threaded shaft moves out from its mounting bracket, two sets of petals engage each other and correct misalinement. Misalinement absorbed by spring-mounted swivels. Designed for umbilical cables between Space Shuttle and payload, mechanism adaptable to other remote or hazardous situations in which human not available to connect mating parts by hand.
A surface possessing a regular array of micro-pillars was evaluated with regard to its ability to control epithelial downgrowth at the percutaneous interface. A range of pillar sizes were applied to the vertical segment of T shaped Biomer (R) implants. These percutaneous tabs were implanted into the dorsum of cats for a period of 6 weeks using a standardized surgical technique. Comments were made post-operatively and at the time of retrieval. A quantitative scoring system was applied to these observations as well as histological results. As observed, the pillar morphology used displayed the ability to control epithelial downgrowth. Collagen ingrowth into the interpillar spaces and possibly direct interactions of the epithelial cells with the morphology may account for the inhibition. The reproducibility of epithelial inhibition is, however, limited by other factors which are currently not well understood. These factors and potential methods of assessment are discussed.
Wire brushes used to connect positive and negative legs of semiconductor thermoelectric generators to power leads and heat sources and sinks. Brushes are flexible thermal and electrical conductors that readily accommodate expansion and contraction of legs with changing temperature. Thus, direct conductive coupling between heat source and sink allowed, in contrast to older and less efficient method of having to couple radiatively to accommodate thermal expansion.
Tool forms mechanical seal at joint without levers or hydraulic apparatus. Proposed tool intended for use in outer space used on Earth by heavily garbed workers to join tubing in difficult environments. Called Pyrotool, used with Lokring (or equivalent) fittings. Piston slides in cylinder when pushed by gas from detonating pyrotechnic charge. Impulse of piston compresses fittings, sealing around butting ends of tubes.
Tool compensates for user's loss of dexterity under awkward conditions. Has jaws that swivel over 180 degree so angle adjusts with respect to handles. Oriented and held in position most comfortable and effective for user in given situation. Jaws lined with rubber pads so they conform to irregularly shaped parts and grips firmly but gently. Once tool engages part, it locks on it so user can release handles without losing part. Ratchet mechanism in tool allows user to work handles back and forth in confined space to connect or disconnect part. Quickly positioned, locked, and released. Gives user feel of its grip on part. Frees grasping muscles from work during part of task, giving user greater freedom to move hand. Operates with only one hand, leaving user's other hand free to manipulate wiring or other parts. Also adapts to handling and positioning extremely-hot or extremely-cold fluid lines, contaminated objects, abrasive or sharp objects, fragile items, and soft objects.
The fabrication and testing of a pair of robot fingers designed to grasp two types of Orbital Replacement Unit (ORU) interfaces, the H Handle type and the Micro Square type are discussed. A closed-form solution is given for the force inverse kinematics. A numerical solution using the Newton-Raphson Method for force forward kinematics is given. Mathematical expressions are derived to compute forces/torques applied to the finger. Suggestions are given for improving finger fabrication. The results of numerous experiments conducted to study the characteristics and feasibility of the fingers are given. The first part of the study was devoted to obtaining data on the forces applied by the finger to the interfaces under various translational and rotational misalignments; the second part was devoted to determining the maximum allowed capture angles that would insure successful mating; and the third part was devoted to the processing and interpretation of the forces/torque data.
Quick-connect/disconnect mechanism consists of two mating assemblies put together easily, even when initially misaligned by fairly large amounts. Used as electrical- or fluid-connection interface. Operated by humans or robots when fast connections must be made without precise positioning, -- for example, on offshore oil rigs, ship-to-dock links, nuclear facilities, and aircraft at loading gates.
Partly embedded fixture is simpler and sturdier than other types of outlets for optical fibers embedded in solid structures. No need to align coupling prism and lenses. Fixture includes base, tube bent at 45 degree angle, and ceramic ferrule.
A releasable coupling device for connecting two members to one another where a collet type fastener has normally retracted latching fingers insertable into a latching recess and a longitudinally movable expander for activating the fastener is described. The longitudinal movement is retained with a paraffin actuated system which can reset. The longitudinal movement of the expander in one direction is through a one way threaded ratchet system which provides an automatic locking action and the expander is movable in either direction by an independently operated threaded action.
The main research activities have been directed toward the study of the Robot Operated Materials Processing System (ROMPS), developed at GSFC under a flight project to investigate commercially promising in-space material processes and to design reflyable robot automated systems to be used in the above processes for low-cost operations. The research activities can be divided into two phases. Phase 1 dealt with testing of ROMPS robot mechanical interfaces and compliant device using a Stewart Platform testbed and Phase 2 with computer simulation study of the ROMPS robot control system. This report provides a summary of the results obtained in Phase 1 and Phase 2.
A releasable coupling device for connecting two members to one another where a collet type fastener has normally retracted latching fingers insertable into a latching recess and a longitudinally movable expander for activating the fastener is described. The longitudinal movement is retained with a paraffin actuated system which can reset. The longitudinal movement of the expander in one direction is through a one way threaded ratchet system which provides an automatic locking action and the expander is movable in either direction by an independently operated threaded action.
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A study was initiated to determine the root cause of failure for circuit board electrical connection pins that failed during vibRatory testing. The circuit board is part of an unmanned space probe, and the vibratory testing was performed to ensure component survival of launch loading conditions. The results of this study show that the pins failed as a result of fatigue loading.
A robotic system includes a tendon-driven end effector, a linear actuator, a flexible tendon, and a plate assembly. The linear actuator assembly has a servo motor and a drive mechanism, the latter of which translates linearly with respect to a drive axis of the servo motor in response to output torque from the servo motor. The tendon connects to the end effector and drive mechanism. The plate assembly is disposed between the linear actuator assembly and the tendon-driven end effector and includes first and second plates. The first plate has a first side that defines a boss with a center opening. The second plate defines an accurate through-slot having tendon guide channels. The first plate defines a through passage for the tendon between the center opening and a second side of the first plate. A looped end of the flexible tendon is received within the tendon guide channels.