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At least 667 records · Page 37
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Mars rover mechanisms designed for Rocky 4

A Mars rover prototype vehicle named Rocky 4 was designed and built at JPL during the fall of 1991 and spring 1992. This vehicle is the fourth in a series of rovers designed to test vehicle mobility and navigation software. Rocky 4 was the first attempt to design a vehicle with 'flight like' mass and functionality. It was consequently necessary to develop highly efficient mechanisms and structures to meet the vehicles very tight mass limit of 3 Kg for the entire mobility system (7 Kg for the full system). This paper will discuss the key mechanisms developed for the rover's innovative drive and suspension system. These are the wheel drive and strut assembly, the rocker-bogie suspension mechanism and the differential pivot. The end-to-end design, analysis, fabrication and testing of these components will also be discussed as will their performance during field testing. The lessons learned from Rocky 4 are already proving invaluable for the design of Rocky 6. Rocky 6 is currently being designed to fly on NASA's MESUR mission to Mars scheduled to launch in 1996.

Rivellini, Tommaso P.↗
NASA NTRS1993

Metal band drives in spacecraft mechanisms

Transmitting and changing the characteristics of force and stroke is a requirement in nearly all mechanisms. Examples include changing linear to rotary motion, providing a 90 deg change in direction, and amplifying stroke or force. Requirements for size, weight, efficiency and reliability create unique problems in spacecraft mechanisms. Flexible metal band and cam drive systems provide powerful solutions to these problems. Band drives, rack and pinion gears, and bell cranks are compared for effectiveness. Band drive issues are discussed including materials, bend radius, fabrication, attachment and reliability. Numerous mechanisms are shown which illustrate practical applications of band drives.

Maus, Daryl↗
NASA NTRS1993

Pointing mechanisms for the Shuttle Radar Laboratory

The Shuttle Radar Laboratory (SRL) is scheduled for launch in December of 1993 on the first of its two missions. The SRL has three major radar instruments: two distributed phased-array antennas, which make up the Spaceborne Imaging Radar-C System (SIR-C) and are capable of being electronically steered, and one X-Band Synthetic Aperture Radar (X-SAR), which is pointed mechanically by a suite of mechanisms. This paper will describe these mechanisms and summarize the development difficulties that were encountered in bringing them from the design stage through prototype development and protoflight testing.

Lilienthal, Gerald W.↗
NASA NTRS1993

Low melting temperature alloy deployment mechanism and recent experiments

This paper describes the concept of a low melting temperature alloy deployment mechanism, U.S. Patent 4,842,106. It begins with a brief history of conventional dimethyl-silicone fluid damped mechanisms. Design fundamentals of the new melting alloy mechanism are then introduced. Benefits of the new over the old are compared and contrasted. Recent experiments and lessons learned complete this paper.

Madden, M. J.↗
NASA NTRS1993

The Solar Anomalous and Magnetospheric Particle Explorer (SAMPEX) yo-yo despin and solar array deployment mechanism

The SAMPEX spacecraft, successfully launched in July 1992, carried a yo-yo despin system and deployable solar arrays. The despin and solar array mechanisms formed an integral system as the yo-yo cables held the solar array release mechanism in place. The SAMPEX design philosophy was to minimize size and weight through the use of a predominantly single string system. The design challenge was to build a system in a limited space, which was reliable with minimal redundancy. This paper covers the design and development of the SAMPEX yo-yo despin and solar array deployment mechanisms. The problems encountered during development and testing will also be discussed.

Kellogg, James W.↗
NASA NTRS1989

Shear flow control of cold and heated rectangular jets by mechanical tabs. Volume 2: Tabulated data

The effects of mechanical protrusions on the jet mixing characteristics of rectangular nozzles for heated and unheated subsonic and supersonic jet plumes were studied. The characteristics of a rectangular nozzle of aspect ratio 4 without the mechanical protrusions were first investigated. Intrusive probes were used to make the flow measurements. Possible errors introduced by intrusive probes in making shear flow measurements were also examined. Several scaled sizes of mechanical tabs were then tested, configured around the perimeter of the rectangular jet. Both the number and the location of the tabs were varied. From this, the best configuration was selected. This volume contains tabulated data for each of the data runs cited in Volume 1. Baseline characteristics, mixing modifications (subsonic and supersonic, heated and unheated) and miscellaneous charts are included.

Brown, W. H.↗
NASA NTRS1994

Space Station Freedom Solar Array tension mechanism development

A tension mechanism is used to apply a tension force to the Space Station Freedom Solar Array Blanket. This tension is necessary to meet the deployed frequency requirement of the array as well as maintain the flatness of the flexible substrate solar cell blanket. The mechanism underwent a series of design iterations before arriving at the final design. This paper discusses the design and testing of the mechanism.

Allmon, Curtis↗
NASA NTRS1994

Pointing and tracking space mechanism for laser communication

Space optical communication is considered a promising technology regarding its high data rate and confidentiality capabilities. However, it requires today complex satellite systems involving highly accurate mechanisms. This paper aims to highlight the stringent requirements which had to be fulfilled for such a mechanism, the way an existing design has been adapted to meet these requirements, and the main technical difficulties which have been overcome thanks to extensive development tests throughout the C/D phase initiated in 1991. The expected on-orbit performance of this mechanism is also presented.

Brunschvig, A.↗
NASA NTRS1994

Implementation of heaters on thermally actuated spacecraft mechanisms

This paper presents general insight into the design and implementation of heaters as used in actuating mechanisms for spacecraft. Problems and considerations that were encountered during development of the Deep Space Probe and Science Experiment (DSPSE) solar array release mechanism are discussed. Obstacles included large expected fluctuations in ambient temperature, variations in voltage supply levels outgassing concerns, heater circuit design, materials selection, and power control options. Successful resolution of these issues helped to establish a methodology which can be applied to many of the heater design challenges found in thermally actuated mechanisms.

Busch, John D.↗
NASA NTRS1994

Payload holddown and release mechanism

A payload holddown and release mechanism, designated the Model 1172, was designed and built at G&H Technology during the winter of 1992/1993. The mechanism is able to restrain and release a 45-pound payload with minimal tipoff. The payload is held in place by a stainless steel band and released using electrically triggered non-explosive actuators. These actuators provide reliable operation with negligible shock and no special handling requirements. The performance of the mechanism was demonstrated in two flight tests. Data showed pitch and yaw tipoff rates of less than 0.07 radian (4 degree) per second. The Model 1172 design is an efficient replacement for conventional payload deployment devices, especially where low transmitted shock is required.

Chaput, Dale↗
NASA NTRS1992

Investigation of mechanisms for vorticity generation and flow separation on bodies in unsteady motion

Described in this work is an attempt to identify and examine the mechanisms responsible for the generation/shedding of vorticities and the separation of flow from bodies in forced unsteady motions through a viscous fluid. To gain insight into the basic physics of unsteady fluid dynamics, possible mechanisms are isolated and examined separately by assuming different simplified flow arrangements. Even without depending on the availability of the supercomputers, it might be possible to explain or predict some complex unsteady flow phenomena based on the fundamental understanding of the individual mechanisms.

Chow, Chuen-Yen↗
NASA NTRS1993

Oceanic transform earthquakes with unusual mechanisms or locations - Relation to fault geometry and state of stress in the adjacent lithosphere

Results are presented of a search for transform earthquakes departing from the pattern whereby they occur on the principal transform displacement zone (PTDZ) and have strike-slip mechanisms consistent with transform-parallel motion. The search was conducted on the basis of source mechanisms and locations taken from the Harvard centroid moment tensor catalog and the bulletin of the International Seismological Center. The source mechanisms and centroid depths of 10 such earthquakes on the St. Paul's, Marathon, Owen, Heezen, Tharp, Menard, and Rivera transforms are determined from inversions of long-period body waveforms. Much of the anomalous earthquake activity on oceanic transforms is associated with complexities in the geometry of the PTDZ or the presence of large structural features that may influence slip on the fault.

Wolfe, Cecily J.↗
NASA NTRS1992

Design of a mirror pointing and occulting mechanism for the Ultraviolet Coronagraph Spectrometer (UVCS)

The Mirror and Occulter Mechanism (MOM), a lightweight stable optical assembly which is a critical component to the Ultraviolet Coronagraph Spectrometer to be flown on the European SOHO spacecraft, is discussed. The MOM combines the functions of precision mirror pointing and occultation of stray light into a single package. The mirror mechanism and occulter mechanism designs are described and development testing and life testing activities are discussed.

Highman, Clifton O.↗
NASA NTRS1994

Production of squeezed states for macroscopic mechanical oscillator

The possibility of squeezed states generation for macroscopic mechanical oscillator is discussed. It is shown that one can obtain mechanical oscillator in squeezed state via coupling it to electromagnetic oscillator (Fabry-Perot resonator) and pumping this Fabry-Perot resonator with a field in squeezed state. The degradation of squeezing due to mechanical and optical losses is also analyzed.

Kulagin, V. V.↗
NASA NTRS1994

Robust control of multi-jointed arm with a decentralized autonomous control mechanism

A decentralized autonomous control mechanism applied to the control of three dimensional manipulators and its robustness to partial damage was assessed by computer simulation. Decentralized control structures are believed to be quite robust to time delay between the operator and the target system. A 10-jointed manipulator based on our control mechanism was able to continue its positioning task in three-dimensional space without revision of the control program, even after some of its joints were damaged. These results suggest that this control mechanism can be effectively applied to space telerobots, which are associated with serious time delay between the operator and the target system, and which cannot be easily repaired after being partially damaged.

Kimura, Shinichi↗
NASA NTRS1994

Antenna-assembling mechanism test on ETS-7

The Communications Research Laboratory plans to test an antenna-assembling mechanism on the Engineering Test Satellite 7. The test is one of the application missions for the space robotics experiments that will be conducted mainly by the National Space Development Agency of Japan (NASDA). The purpose of the test is to verify the ability of the antenna assembling mechanism to function in space and to experiment on the teleoperation of a space robot to develop antenna-assembling technology. We present the test experiment plans and the outline of the onboard assembling mechanism.

Suzuki, Yoshiaki↗
NASA NTRS1995

Some mechanical design aspects of the European Robotic Arm

The European Robotic Arm (ERA) is a contribution to the Russian Segment of the International Space Station Alpha. It will start operating on the Russian Segment during the assembly phase. ERA is designed and produced by a large industrial consortium spread over Europe with Fokker Space & Systems as prime contractor. In this paper, we will describe some of the overall design aspects and focus on the development of several mechanisms within ERA. The operation of ERA during the approach of its end effector towards the grapple interface and the grapple operation is discussed, with a focus on mechanisms. This includes the geometry of the end effector leading edge, which is carefully designed to provide the correct and complete tactile information to a torque-force sensor (TFS). The data from this TFS are used to steer the arm such that forces and moments are kept below 20 N and 20 N.m respectively during the grappling operation. Two hardware models of the end effector are built. The problems encountered are described as well as their solutions. The joints in the wrists and the elbow initially used a harmonic drive lubricated by MoS2. During development testing, this combination showed an insufficient lifetime in air to survive the acceptance test program. The switch-over to a system comprising planetary gearboxes with grease lubrication is described. From these development efforts, conclusions are drawn and recommendations are given for the design of complex space mechanisms.

Lambooy, Peter J.↗
NASA NTRS1995

Solar array deployment mechanism

This paper describes a Solar Array Deployment Mechanism (SADM) used to deploy a rigid solar array panel on a commercial spacecraft. The application required a deployment mechanism design that was not only lightweight, but also could be produced and installed at the lowest possible cost. This paper covers design, test, and analysis of a mechanism that meets these requirements.

Calassa, Mark C.↗