SEARCH · Engineering Papers

Results for “Dynamical”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 559 records · Page 31

All sources NASA NTRS DOE OSTI

NASA NTRS1989

Dynamic loading of spur gears with linear or parabolic tooth profile modification

A computer simulation was conducted to investigate the effects of both linear and parabolic tooth profile modification on the dynamic response of low-contact-ratio spur gears. The effect of the total amount of modification and the length of the modification zone were studied at various loads and speeds to find the optimal profile modification for minimal dynamic loading. Design charts consisting of normalized maximum dynamic load curves were generated for gear systems operated at various loads and with different tooth profile modification. An optimum profile modification can be determined from these design charts to minimize the dynamic loads of spur gear systems.

Lin, Hsiang Hsi↗

NASA NTRS1988

GOES dynamic propagation of attitude

The spacecraft in the next series of Geostationary Operational Environmental Satellites (GOES-Next) are Earth pointing and have 5-year mission lifetimes. Because gyros can be depended on only for a few years of continuous use, they will be turned off during routine operations. This means attitude must, at times, be determined without benefit of gyros and, often, using only Earth sensor data. To minimize the interruption caused by dumping angular momentum, these spacecraft have been designed to reduce the environmental torque acting on them and incorporate an adjustable solar trim tab for fine adjustment. A new support requirement for GOES-Next is that of setting the solar trim tab. Optimizing its setting requires an estimate of the unbalanced torque on the spacecraft. These two requirements, determining attitude without gyros and estimating the external torque, are addressed by replacing or supplementing the gyro propagation with a dynamic one, that is, one that integrates the rigid body equations of motion. By processing quarter-orbit or longer batches, this approach takes advantage of roll-yaw coupling to observe attitude completely without Sun sensor data. Telemetered momentum wheel speeds are used as observations of the unbalanced external torques. GOES-Next provides a unique opportunity to study dynamic attitude propagation. The geosynchronous altitude and adjustable trim tab minimize the external torque and its uncertainty, making long-term dynamic propagation feasible. This paper presents the equations for dynamic propagation, an analysis of the environmental torques, and an estimate of the accuracies obtainable with the proposed method.

Markley, F. Landis↗

NASA NTRS1988

The use of the articulated total body model as a robot dynamics simulation tool

The Articulated Total Body (ATB) model is a computer sumulation program which was originally developed for the study of aircrew member dynamics during ejection from high-speed aircraft. This model is totally three-dimensional and is based on the rigid body dynamics of coupled systems which use Euler's equations of motion with constraint relations of the type employed in the Lagrange method. In this paper the use of the ATB model as a robot dynamics simulation tool is discussed and various simulations are demonstrated. For this purpose the ATB model has been modified to allow for the application of torques at the joints as functions of state variables of the system. Specifically, the motion of a robotic arm with six revolute articulations with joint torques prescribed as functions of angular displacement and angular velocity are demonstrated. The simulation procedures developed in this work may serve as valuable tools for analyzing robotic mechanisms, dynamic effects, joint load transmissions, feed-back control algorithms employed in the actuator control and end-effector trajectories.

Obergfell, Louise A.↗

NASA NTRS1988

The role of radiation-dynamics interaction in regional numerical weather prediction

The role of radiation-dynamics interaction in regional numerical weather prediction of severe storm environment and mesoscale convective systems over the United States is researched. Based upon the earlier numerical model simulation experiments, it is believed that such interaction can have a profound impact on the dynamics and thermodynamics of regional weather systems. The research will be carried out using real-data model forecast experiments performed on the Cray-X/MP computer. The forecasting system to be used is a comprehensive mesoscale prediction system which includes analysis and initialization, the dynamic model, and the post-forecast diagnosis codes. The model physics are currently undergoing many improvements in parameterizing radiation processes in the model atmosphere. The forecast experiments in conjunction with in-depth model verification and diagnosis are aimed at a quantitative understanding of the interaction between atmospheric radiation and regional dynamical processes in mesoscale models as well as in nature. Thus, significant advances in regional numerical weather prediction can be made. Results shall also provide valuable information for observational designs in the area of remote sensing techniques to study the characteristics of air-land thermal interaction and moist processes under various atmospheric conditions.

Chang, Chia-Bo↗

NASA NTRS1989

On the dynamic response of pressure transmission lines in the research of helium-charged free piston Stirling engines

In free piston Stirling engine research the integrity of both amplitude and phase of the dynamic pressure measurements is critical to the characterization of cycle dynamics and thermodynamics. It is therefore necessary to appreciate all possible sources of signal distortion when designing pressure measurement systems for this type of research. The signal distortion inherent to pressure transmission lines is discussed. Based on results from classical analysis, guidelines are formulated to describe the dynamic response properties of a volume-terminated transmission tube for applications involving helium-charged free piston Stirling engines. The scope and limitations of the dynamic response analysis are considered.

Miller, Eric L.↗

NASA NTRS1987

Spatially random models, estimation theory, and robot arm dynamics

Spatially random models provide an alternative to the more traditional deterministic models used to describe robot arm dynamics. These alternative models can be used to establish a relationship between the methodologies of estimation theory and robot dynamics. A new class of algorithms for many of the fundamental robotics problems of inverse and forward dynamics, inverse kinematics, etc. can be developed that use computations typical in estimation theory. The algorithms make extensive use of the difference equations of Kalman filtering and Bryson-Frazier smoothing to conduct spatial recursions. The spatially random models are very easy to describe and are based on the assumption that all of the inertial (D'Alembert) forces in the system are represented by a spatially distributed white-noise model. The models can also be used to generate numerically the composite multibody system inertia matrix. This is done without resorting to the more common methods of deterministic modeling involving Lagrangian dynamics, Newton-Euler equations, etc. These methods make substantial use of human knowledge in derivation and minipulation of equations of motion for complex mechanical systems.

Rodriguez, G.↗

NASA NTRS1988

Microscale ocean dynamics

The detailed dynamics of the micro-scale ocean surface phenomena are studied along with the relationships among the surface signatures with the underlying dynamical processes. The approach to advance the understanding in this area is as follows: (1) Conduct rigorous theoretical studies of the ocean surface wave dynamics and statistical properties; (2) Conduct process-oriented laboratory experiments to verify the theoretical results, and to provide guidance for further studies; and (3) Prepare testable hypotheses for field verifications and comparisons during the ONR/NASA sponsored Surface Wave Dynamics Experiment (SWADE). An analytic model was established for wave breaking probability to study the influence of wave breaking on the spectrum shape in both deep and finite-depth waters. The spectrum was processed along with the structures of the water surface under the influence of wind and existing waves.

Huang, N.↗

NASA NTRS1989

Computational methods and software systems for dynamics and control of large space structures

The deployment, assembly and mission-oriented maneuvering of space structures in orbit will trigger large motions of flexible, truss-type structures. In addition, the presence of on-board controls both for attitude stabilization and specified vibration tolerance requirements may further complicate the dynamic behavior of the orbiting structures. Because of safety and cost considerations, the dynamic response of the combined structural and control systems must be predicted reliably. This need can only be met through the development of reliable and efficient simulation capabilities, since there is general agreement that on-orbit experiments should be limited because of cost, time and facility constraints. The long-term objective of this research effort is to develop a next-generation computer simulator for the dynamics and control of large space structures. The simulator will be based on integrating four research thrusts: a new multibody dynamics formulation methodology, modeling capabilities in long/slender truss-beam components with realistic joints, efficient computational procedures that can be implemented either in sequential or concurrent computers, and prototype simulation modules that can be easily processed into a modern large-scale engineering software system such as the NASA/Computational Structural Mechanics (CSM) testbed.

Park, K. C.↗

NASA NTRS1988

Dynamic task distribution for multiple cooperating robot manipulators

The issue of distributing the task among multiple robot arms while considering the manipulator dynamics is considered. The forces and moments required to move an object are distributed in such a way that extra degrees of freedom within the system may be used to satisfy or optimize criteria related to the manipulator dynamics. A method to perform such subtasks is introduced, and examples of possible criteria noted. It is expected that such techniques will produce trajectories which will be more desirable for the individual arms dynamically, since the dynamics are considered in the task distribution.

Walker, Ian D.↗

NASA NTRS1988

Experimental studies in system identification of helicopter rotor dynamics

Recent experiments investigating the system identification of helicopter rotor dynamics are described. The identification makes use of a two-pass procedure that estimates the rotor dynamic states prior to estimation of the dynamic equation parameters. Estimation of the rotor states is made possible through use of the predictive information contained in blade-mounted accelerometers combined with a specialized processing scheme utilizing these signals. Descriptions of the experimental hardware and the system identification technique are given, as well as implementation issues for using the procedure on other similarly instrumented rotor blades. Finally, comparisons with other identification techniques using the same data are presented. It is demonstrated that the approach is an attractive one for measurement of a helicopter rotor's dynamic behavior.

Mckillip, Robert, Jr.↗

NASA NTRS1989

Collisional and inertial dynamics of the ionospheric interchange instability

The dynamical properties and spectral characteristics of the ionospheric interchange instability in the collisional and inertial regimes are investigated numerically and analytically, using a two-dimensional fluid model. This model, which describes the collisional and inertial dynamics of the F region ionosphere, is similar to the models of Ott (1978) and Kintner and Seyler (1985). By numerically integrating the model equations, the nonlinear evolution of three interchange unstable configurations in the collisional and inertial regimes are followed, and their dynamical and spectral properties are studied. The solutions indicate that the dynamical properties of a collision-dominated regime are distinctly different from those of an inertia-dominated regime. The qualitative characteristics of a plasma bubble in both regime-types are described.

Zargham, S.↗

NASA NTRS1989

A general dynamic model of flexible robot arms for control

Hamilton's principle is used to derive the dynamic model for a large class of flexible robot arms. The resultant dynamic model consists of a system of partial differential-integral equations and the dynamic boundary conditions associated with it. Some properties of the model are observed, and its application to control is discussed. This model represents an infinite-dimensional nonlinear dynamic system and yet can be turned into a finite-dimensional system that could be obtained by modal expansion, if it is desired. This provides more flexibility for control purposes as well as for the analysis of the system.

Ding, X.↗

NASA NTRS1990

Dynamic substructuring by the boundary flexibility vector method of component mode synthesis

Component mode synthesis (CMS) is a method of dynamic analysis, for structures having a large number of degrees of freedom (DOF). These structures often required lengthy computer CPU time and large computer memory resources, if solved directly by the finite-element method (FEM). In CMS, the structure is divided into independent components in which the DOF are defined by a set of generalized coordinates defined by displacement shapes. The number of the generalized coordinates are much less than the original number of physical DOF, in the component. The displacement shapes are used to transform the component property matrices and any applied external loads, to a reduced system of coordinates. Reduced system property matrices are assembled, and any type of dynamic analysis is carried out in the reduced coordinate system. Any obtained results are back transformed to the original component coordinate systems. In all conventional methods of CMS, the mode shapes used for components are dynamic mode shapes, supplemented by static deflected shapes. Historically, all the dynamic mode shapes used in conventional CMS are the natural modes (eigenvectors) of components. A new method of CMS, namely the boundary flexibility vector method of CMS, is presented. The method provides for the incorporation of a set of static Ritz vectors, referred to as boundary flexibility vectors, as a replacement and/or supplement to conventional eigenvectors, as displacement shapes for components. The generation of these vectors does not require the solution of a costly eigenvalue problem, as in the case of natural modes in conventional CMS, and hence a substantial saving in CPU time can be achieved. The boundary flexibility vectors are generated from flexibility (or stiffness) properties of components. The formulation presented is for both free and fixed-interface components, and for both the free and forced vibration problems. Free and forced vibration numerical examples are presented to verify the accuracy of the method and the saving in CPU time. Compared to conventional methods of CMS, the results indicate that by using the new method, more accurate results can be obtained with a substantial saving in CPU time.

Abdallah, Ayman Ahmed↗

NASA NTRS1989

Spatial operator algebra framework for multibody system dynamics

The Spatial Operator Algebra framework for the dynamics of general multibody systems is described. The use of a spatial operator-based methodology permits the formulation of the dynamical equations of motion of multibody systems in a concise and systematic way. The dynamical equations of progressively more complex grid multibody systems are developed in an evolutionary manner beginning with a serial chain system, followed by a tree topology system and finally, systems with arbitrary closed loops. Operator factorizations and identities are used to develop novel recursive algorithms for the forward dynamics of systems with closed loops. Extensions required to deal with flexible elements are also discussed.

Rodriguez, G.↗

NASA NTRS1989

Development of efficient computer program for dynamic simulation of telerobotic manipulation

Research in robot control has generated interest in computationally efficient forms of dynamic equations for multi-body systems. For a simply connected open-loop linkage, dynamic equations arranged in recursive form were found to be particularly efficient. A general computer program capable of simulating an open-loop manipulator with arbitrary number of links has been developed based on an efficient recursive form of Kane's dynamic equations. Also included in the program is some of the important dynamics of the joint drive system, i.e., the rotational effect of the motor rotors. Further efficiency is achieved by the use of symbolic manipulation program to generate the FORTRAN simulation program tailored for a specific manipulator based on the parameter values given. The formulations and the validation of the program are described, and some results are shown.

Chen, J.↗

NASA NTRS1989

Explicit modeling of composite plates and beams in the dynamics of multibody systems

The state of the art dynamic response analysis of flexible multibody systems is currently restricted to elastic bodies with homogeneous materials. The requirements for high speed operation has made it necessary to use lightweight multi layered composite bodies in robotic systems and space structure applications. Dynamic modeling and analysis of such systems are particularly important since the effects of body flexibility to the performance are likely to be more pronounced. The eight-noded isoperimetric quadrilateral element with independent rotational and displacement degrees of freedom is extended to laminated composite elements. The element includes an arbitrary number of bonded layers, each of which may have a different thickness. The transverse shear deformation which is a predominant factor in the analysis of laminated composite structures is taken into account in developing the stiffness and mass matrices. The corresponding 3-D mode shapes are then incorporated to the multibody system dynamical equations. Floating body reference frames allow the selection of different boundary conditions, and the dynamical equations contain all the nonlinear interactions between the rigid and elastic motion. Example simulations are presented to illustrate the methods proposed.

Amirouche, F. M. L.↗

NASA NTRS1989

On trajectory generation for flexible space crane: Inverse dynamics analysis by LATDYN

For future in-space construction facility, one or more space cranes capable of manipulating and positioning large and massive spacecraft components will be needed. Inverse dynamics was extensively studied as a basis for trajectory generation and control of robot manipulators. The focus here is on trajectory generation in the gross-motion phase of space crane operation. Inverse dynamics of the flexible crane body is much more complex and intricate as compared with rigid robot link. To model and solve the space crane's inverse dynamics problem, LATDYN program which employs a three-dimensional finite element formulation for the multibody truss-type structures will be used. The formulation is oriented toward a joint dominated structure which is suitable for the proposed space crane concept. To track a planned trajectory, procedures will be developed to obtain the actuation profile and dynamics envelope which are pertinent to the design and performance requirements of the space crane concept.

Chen, G.-S.↗

NASA NTRS1990

Non-linear dynamic analysis of geared systems, part 2

A good understanding of the steady state dynamic behavior of a geared system is required in order to design reliable and quiet transmissions. This study focuses on a system containing a spur gear pair with backlash and periodically time-varying mesh stiffness, and rolling element bearings with clearance type non-linearities. A dynamic finite element model of the linear time-invariant (LTI) system is developed. Effects of several system parameters, such as torsional and transverse flexibilities of the shafts and prime mover/load inertias, on free and force vibration characteristics are investigated. Several reduced order LTI models are developed and validated by comparing their eigen solution with the finite element model results. Several key system parameters such as mean load and damping ratio are identified and their effects on the non-linear frequency response are evaluated quantitatively. Other fundamental issues such as the dynamic coupling between non-linear modes, dynamic interactions between component non-linearities and time-varying mesh stiffness, and the existence of subharmonic and chaotic solutions including routes to chaos have also been examined in depth.

Singh, Rajendra↗