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Triple-axis pivot-arm wrist developed for wrist joint for remote-manipulator arm allows three degrees of freedom in wrist joint. Device also contains power-chain components sufficient for 15 foot/pound torque. Device could be used with prosthetics.
A flat, sector-shaped geometry for a liquid-lubricated thrust bearing is analyzed considering both the pitch and roll of the pad. Results are presented in design charts that enable a direct approach to the design of point- and line-pivoted, tilting pad bearings. A comparison is made with the Mitchell bearing approximation and it is found that this approximation always overestimates load capacity.
The NASA Space Shuttle Solid Rocket Motor (SRM) uses an omniaxial flexible seal for vectoring the nozzle. This flexible seal, being built under the technical management of Marshall Space Flight Center in Huntsville, Alabama, is the first ever to be used on a manned spacecraft booster. Since no test history on the particular type of flexible seal being used was available and since flexible seal dynamics characteristics affect many vehicle hardware design and manufacture requirements, a rigorous test program to assess the integrity and operating characteristics of the seal was developed and executed. Vector requirements of the SRM flexible seal and results of subscale and full-scale prototype seal verification tests are included. The advantages of an improved method of calculating actuator stroke versus vector angle and pressure over the more classical method of calculating actuator strokes using pivot point envelopes are discussed. Results presented show that the SRM seal design will satisfy flight requirements.
An invention to be used for controlling aircraft flaps is described. It is applicable to control systems with two coaxial output units which pivot simultaneously with respect to two fixed units and which are activated by two opposed, straight coaxial jacks.
A wrist joint assembly is described for use with a mechanical manipulator arm for finely positioning an end-effector carried by the wrist joint on the terminal end of the manipulator arm. The wrist joint assembly is pivotable about a first axis to produce a yaw motion, a second axis to produce a pitch motion, and a third axis to produce a roll motion. The performance of the wrist configuration is indicative of the capability to produce the 15 ft lb torque in either one of the three motions and the smoothness of operation is notable.
The mechanisms incorporated in the vertical sounding infrared radiometry experiments which were launched on Nimbus 5 in 1972 and on Nimbus 6 in 1975 are discussed. Both use dry lubricants. The Nimbus 5 radiometer includes a rotating chopper driven via a carbon fiber-acetal resin gearwheel. The driving motor runs at 2000 rpm and has completed over 7 x 10 to the 9th power revolutions. Four gear driven filter wheels powered by stepper motors have each completed 2 x 10 to the 8th power changes. The input calibration mirror mechanism and its field of view compensation mechanisms are also described. All 25 ball races used in the experiment are of the film transfer type. The Nimbus 6 radiometer includes two cells. Each contains a piston supported on diaphragm springs and driven electromagnetically. The pistons are 6 cm in diameter with a stroke of 1 cm and are driven at their mechanical resonant frequency of approx. 15 Hz. The calibrating mirrors rotate periodically to view a target. The support pivots are synthetic sapphire ring stones with separate end thrust stones. The problems of mounting these stones to withstand vibration loads is described.
A concept in manipulator development to overcome the 'weak wrist syndrome', a triple-axis common-pivot arm wrist (TACPAW), is presented. It contains torque motors for actuation, tachometers for measuring rate, and resolvers for position measurements. Furthermore, it provides three degrees of freedom, i.e., pitch, yaw, and roll, in a single manipulator joint. The advantages of this development are increased strength, compactness, and simplification of controls. Designed to be compatible with the protoflight manipulator arm, the joints of TACPAW are back-driveable with + or - 45 deg rotation in pitch, + or - 45 deg in yaw and continuous roll in either direction while delivering 20.5 N-m (15 ft-lb) torque in each of the three movements.
An off-design performance loss model is developed for variable-area (pivoted vane) radial turbines. The variation in stator loss with stator area is determined by a viscous loss model while the variation in rotor loss due to stator area variation (for no stator end-clearance gap) is determined through analytical matching of experimental data. An incidence loss model is also based on matching of the experimental data. A stator vane end-clearance leakage model is developed and sample calculations are made to show the predicted effects of stator vane end-clearance leakage on performance.
An off-design performance loss model was developed for variable stator (pivoted vane), radial turbines through analytical modeling and experimental data analysis. Stator loss is determined by a viscous loss model; stator vane end-clearance leakage effects are determined by a clearance flow model. Rotor loss coefficient were obtained by analyzing the experimental data from a turbine rotor previously tested with six stators having throat areas from 20 to 144 percent of design area and were correlated with stator-to-rotor throat area ratio. An incidence loss model was selected to obtain best agreement with experimental results. Predicted turbine performance is compared with experimental results for the design rotor as well as with results for extended and cutback versions of the rotor. Sample calculations were made to show the effects of stator vane end-clearance leakage.
A prototype of a linear inertial reaction actuation (damper) device employing a flexure-pivoted reaction (proof) mass is discussed. The mass is driven by an electromechanic motor using a dc electromagnetic field and an ac electromagnetic drive. During the damping process, the actuator dissipates structural kinetic energy as heat through electromagnetic damping. A model of the inertial, stiffness and damping properties is presented along with the characteristic differential equations describing the coupled response of the actuator and structure. The equations, employing the dynamic coefficients, are oriented in the form of a feedback control network in which distributed sensors are used to dictate actuator response leading to a specified amount of structural excitation or damping.
An off-design performance loss model for a radial turbine with pivoting, variable-area stators is developed through a combination of analytical modeling and experimental data analysis. A viscous loss model is used for the variation in stator loss with setting angle, and stator vane end-clearance leakage effects are predicted by a clearance flow model. The variation of rotor loss coefficient with stator setting angle is obtained by means of an analytical matching of experimental data for a rotor that was tested with six stators, having throat areas from 20 to 144% of the design area. An incidence loss model is selected to obtain best agreement with experimental data. The stator vane end-clearance leakage model predicts increasing mass flow and decreasing efficiency as a result of end-clearances, with changes becoming significantly larger with decreasing stator area.
Sensor probe follows curved contours, always keeping sensor in contact with contoured surface. Includes freely pivoting tip, which contains sensor. Spring holds tip in contact with surface being scanned. As user moves probe along surface, force of contact keeps tip oriented along local perpendicular to surface. Slopes of up to 90 degrees from axis of probe accommodated.
The author relates the history of the human exploration initiative from a personal perspective from the 1961 J. F. Kennedy initiative to land a man on the moon up to 1986 when a memo was circulated from NASA Headquarters to its employees which stated as a major goal the expansion of the human presence beyond Earth into the solar system. The pivotal role of life support research is woven into this personalized history.
An investigation was conducted at wind-off conditions in the static-test facility of the Langley 16-Foot Transonic Tunnel to determine the internal performance characteristics of a single expansion-ramp nozzle with thrust-vectoring capability to 105 degrees. Thrust vectoring was accomplished by the downward rotation of an upper flap with adaptive capability for internal contouring and a corresponding rotation of a center-pivoted lower flap. The static internal performance of configurations with pitch thrust-vector angles of 0 degrees, 60 degrees, and 105 degrees each with two throat areas, was investigated. The nozzle pressure ratio was varied from 1.5 to approximately 8.0 (5.0 for the maximum throat area configurations). Results of this study indicated that the nozzle configuration of the present investigation, when vectored, provided excellent flow-turning capability with relatively high levels of internal performance. In all cases, the thrust vector angle was a function of the nozzle pressure ratio. This result is expected because the flow is bounded by a single expansion surface on both vectored- and unvectored-nozzle geometries.
Modified spot-welding gun includes pivoting twin-collet assembly that holds two spot-welding electrodes. Designed to weld highly conductive (30 percent gold) brazing-alloy foils to thin nickel alloy workpieces; also suitable for other spot-welding applications compatible with two-electrode configuration.
A complete, self-contained fast-steering- mirror (FSM) mechanism is reported consisting of a housing, a mirror and mirror-mounting cell, three PZT (piezoelectric) actuators, and a counterbalance mass. Basically, it is a comparatively stiff, two-axis (tip-tilt), self-balanced FSM. The present invention requires only three (or three pairs for flight redundancy) actuators. If a PZT actuator degrades, the inherent balance remains, and compensation for degraded stroke is made by simply increasing the voltage to the PZT. Prior designs typically do not pivot at the mirror optical center, creating unacceptable beam shear.
The Center Differential Pivot Restraint (CDPR) for the Mars 2020 mission is designed to constrain motion of the rover differential and to dampen out the load response of during rover’s mobility deployment event in Entry, Descent, and Landing (EDL) phase of the mission. For Mars 2020, it was required to redesign the mechanism to save minimum 33% of the mass from the previous Mars Science Laboratory (MSL) design. The new mechanism architecture used a monolithic spring-like flexure to act as the system compliance, resulting in 50% mass savings from the MSL design. Along the design and prototype testing process, several mechanism design principles were re-affirmed as well as lessons learned about potential race conditions.
Leading edge and trailing edge flap deflection effect on high left and lateral control characteristics of semispan variable sweep wing and tail surfaces