SEARCH · Engineering Papers

Results for “torque”

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 703 records · Page 39

All sources NASA NTRS DOE OSTI

NASA NTRS1992

Motion and force control of multiple robotic manipulators

This paper addresses the motion and force control problem of multiple robot arms manipulating a cooperatively held object. A general control paradigm is introduced which decouples the motion and force control problems. For motion control, different control strategies are constructed based on the variables used as the control input in the controller design. There are three natural choices; acceleration of a generalized coordinate, arm tip force vectors, and the joint torques. The first two choices require full model information but produce simple models for the control design problem. The last choice results in a class of relatively model independent control laws by exploiting the Hamiltonian structure of the open loop system. The motion control only determines the joint torque to within a manifold, due to the multiple-arm kinematic constraint. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, an optimization can be performed to best allocate the desired and effector control force to the joint actuators. The other possibility is to control the internal force about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

Wen, John T.↗

NASA NTRS1993

Evaluation of inertial devices for the control of large, flexible, space-based telerobotic arms

Inertial devices, including sensors and actuators, offer the potential of improving the tracking of telerobotic commands for space-based robots by smoothing payload motions and suppressing vibrations. In this paper, inertial actuators (specifically, torque-wheels and reaction-masses) are studied for that potential application. Batch simulation studies are presented which show that torque-wheels can reduce the overshoot in abrupt stop commands by 82 percent for a two-link arm. For man-in-the-loop evaluation, a real-time simulator has been developed which samples a hand-controller, solves the nonlinear equations of motion, and graphically displays the resulting motion on a computer workstation. Currently, two manipulator models, a two-link, rigid arm and a single-link, flexible arm, have been studied. Results are presented which show that, for a single-link arm, a reaction-mass/torque-wheel combination at the payload end can yield a settling time of 3 s for disturbances in the first flexible mode as opposed to 10 s using only a hub motor. A hardware apparatus, which consists of a single-link, highly flexible arm with a hub motor and a torque-wheel, has been assembled to evaluate the concept and is described herein.

Montgomery, Raymond C.↗

NASA NTRS1992

Numerical investigation of the Earth's rotation during a complete precession cycle

A theory for the long-term rotational motion of the quasi-rigid Earth was constructed by numerical integration. The theory spans 72,000 years centered about 1968 A.D., and provides accurate rotational and positional data for the Earth in the recent past and the near future. The physical model is termed dynamically consistent because developments for the active forces and torques are truncated based solely on their magnitudes regardless of their origin. The model includes all appropriate forces and torques due to the geopotential and tidal effects as well as lunisolar and planetary contributions. The elastic and inelastic deformations due to tidal action were too small to affect the mass properties of the Earth at the truncation level of the model. However, long-term dissipative effects of the tidal forces and torques were not negligible. These considerations gave the model its quasi-rigid characterization. The numerical output provided both rotational and orbital-element data. The data were fitted throughout the 72,000-year range using Chebyshev polynomial series.

Richardson, David L.↗

NASA NTRS1993

The magnetic field configurations of AM Herculis binaries

We have considered equilibrium configurations of a white dwarf and a red dwarf companion in AM Herculis type binary system where the red dwarf is assumed to have an intrinsic centered dipole field, and the white dwarf an offset dipole or a centered dipole plus a quadrupole field, and the interaction is purely magnetic. The restoring torque, due to the system being perturbed from its stable equilibrium configuration, is compared with the accretion torque. The results are used to show that the observed alignment of the main cyclotron emission region relative to the red star can be explained quite simply by these models without having to invoke gravitational torques. We also provide a possible explanation of the observation that the more strongly accreting pole has the weaker field strength in the few systems where fields have been determined at both poles.

Wu, Kinwah↗

NASA NTRS1993

Numerical calculations of the linear response of a gaseous disk to a protoplanet

Numerical calculations of the linear response of a 2D gaseous disk to the perturbations induced by a protoplanet and the corresponding torque are presented. When the pressure gradient is taken into account, torques are increased in disks with gradients in either surface density and sound speed, the effect of the latter being much greater for the same-sized gradient as measured by the power law index. The torques in turn may be used to calculate timescales for orbital migration of protoplanets.

Korycansky, D. G.↗

NASA NTRS1993

Intramuscular pressure and electromyography as indexes of force during isokinetic exercise

A direct method for measuring force production of specific muscles during dynamic exercise is presently unavailable. Previous studies indicate that both intramuscular pressure (IMP) and electromyography (EMG) correlate linearly with muscle contraction force during isometric exercise. The objective of this study was to compare IMP and EMG as linear assessors of muscle contraction force during dynamic exercise. IMP and surface EMG activity were recorded during concentric and eccentric isokinetic plantarflexion and dorsiflexion of the ankle joint from the tibialis anterior (TA) and soleus (SOL) muscles of nine male volunteers. Ankle torque was measured using a dynamometer, and IMP was measured via catheterization. IMP exhibited better linear correlation than EMG with ankle joint torque during concentric contractions of the SOL and the TA, as well as during eccentric contractions. IMP provides a better index of muscle contraction force than EMG during concentric and eccentric exercise through the entire range of torque. IMP reflects intrinsic mechanical properties of individual muscles, such as length-tension relationships, which EMG is unable to assess.

Aratow, M.↗

NASA NTRS1992

Operator performance with alternative manual control modes in teleoperation

Recent experiments conducted at the JPL comparing alternative manual control modes using the JPL Advanced Teleoperator system are described. Of particular interest were control modes that provide force reflection to the operator. The task selected for the experiment is a portion of the Solar Maximum Satellite Repair procedure we developed to demonstrate the repair of the Solar Maximum Satellite with teleoperators. The seven manual control modes evaluated in the experiment are combinations of manual position or resolved motion rate control with alternative control schemes for force reflection and remote manipulator compliance. Performance measures used were task completion times, average force and torque exerted during the execution of the task, and cumulative force and torque exerted. The results were statistically analyzed and they show that, in general, force reflection significantly improves operator performance and indicate that a specific force-reflecting scheme may yield the best performance among the control modes we tested. Also, our experiment showed that, for the selected task, the position control modes were preferable to the rate control modes and slave manipulator compliance reduced task interaction forces and torques.

Das, H.↗

NASA NTRS1993

A gimbaled low noise momentum wheel

The bus actuators are the heart and at the same time the Achilles' heel of accurate spacecraft stabilization systems, because both their performance and their perturbations can have a deciding influence on the achievable pointing accuracy of the mission. The main task of the attitude actuators, which are mostly wheels, is the generation of useful torques with sufficiently high bandwidth, resolution and accuracy. This is because the bandwidth of the whole attitude control loop and its disturbance rejection capability is dependent upon these factors. These useful torques shall be provided, without - as far as possible - parasitic noise like unbalance forces and torques and harmonics. This is because such variable frequency perturbations excite structural resonances which in turn disturb the operation of sensors and scientific instruments. High accuracy spacecraft will further require bus actuators for the three linear degrees of freedom (DOF) to damp structural oscillations excited by various sources. These actuators have to cover the dynamic range of these disturbances. Another interesting feature, which is not necessarily related to low noise performance, is a gimballing capability which enables, in a certain angular range, a three axis attitude control with only one wheel. The herein presented Teldix MWX, a five degree of freedom Magnetic Bearing Momentum Wheel, incorporates all the above required features. It is ideally suited to support, as a gyroscopic actuator in the attitude control system, all High Pointing Accuracy and Vibration Sensitive space missions.

Bichler, U.↗

NASA NTRS1994

A comparison of the performance of solid and liquid lubricants in oscillating spacecraft ball bearings

The European Space Tribology Laboratory (ESTL) has been engaged in a program to compare the performance of oscillating ball bearings when lubricated by a number of space lubricants, both liquid and solid. The results have shown that mean torque levels are increased by up to a factor of five above the normal running torque, and that often torque peaks of even greater magnitudes are present at the ends of travel. It is believed that these effects are caused by a build-up of compacted debris in the contact zone, thus reducing the ball/race conformity ratio.

Gill, S.↗

NASA NTRS1994

Variable stiffness torsion springs

In a torsion spring the spring action is a result of the relationships between the torque applied in twisting the spring, the angle through which the torsion spring twists, and the modulus of elasticity of the spring material in shear. Torsion springs employed industrially have been strips, rods, or bars, generally termed shafts, capabable of being flexed by twisting their axes. They rely on the variations in shearing forces to furnish an internal restoring torque. In the torsion springs herein the restoring torque is external and therefore independent of the shearing modulus of elasticity of the torsion spring shaft. Also provided herein is a variable stiffness torsion spring. This torsion spring can be so adjusted as to have a given spring constant. Such variable stiffness torsion springs are extremely useful in gimballed payloads such as sensors, telescopes, and electronic devices on such platforms as a space shuttle or a space station.

Alhorn, Dean C.↗

NASA NTRS1993

Development and evaluation of a musculoskeletal model of the elbow joint complex

This paper describes the development and evaluation of a musculoskeletal model that represents human elbow flexion-extension and forearm pronation-supination. The length, velocity, and moment arm for each of the eight musculotendon actuators were based on skeletal anatomy and position. Musculotendon parameters were determined for each actuator and verified by comparing analytical torque-angle curves with experimental joint torque data. The parameters and skeletal geometry were also utilized in the musculoskeletal model for the analysis of ballistic elbow joint complex movements. The key objective was to develop a computational model, guided by parameterized optimal control, to investigate the relationship among patterns of muscle excitation, individual muscle forces, and movement kinematics. The model was verified using experimental kinematic, torque, and electromyographic data from volunteer subjects performing ballistic elbow joint complex movements.

Gonzalez, Roger V.↗

NASA NTRS1994

Venusian atmospheric and Magellan properties from attitude control data

Results are presented of the study of the Venusian atmosphere, Magellan aerodynamic moment coefficients, moments of inertia, and solar moment coefficients. This investigation is based upon the use of attitude control data in the form of reaction wheel speeds from the Magellan spacecraft. As the spacecraft enters the upper atmosphere of Venus, measurable torques are experienced due to aerodynamic effects. Solar and gravity gradient effects also cause additional torques throughout the orbit. In order to maintain an inertially fixed attitude, the control system counteracts these torques by changing the angular rates of three reaction wheels. Model reaction wheel speeds are compared to observed Magellan reaction wheel speeds through a differential correction procedure. This method determines aerodynamic, atmospheric, solar pressure, and mass moment of inertia parameters. Atmospheric measurements include both base densities and scale heights. Atmospheric base density results confirm natural variability as measured by the standard orbital decay method. Potential inconsistencies in free molecular aerodynamic moment coefficients are identified. Moments of inertia are determined with a precision better than 1 percent of the largest principal moment of inertia.

Croom, Christopher A.↗

NASA NTRS1994

Building complex simulations rapidly using MATRIX(x): The Space Station redesign

MSFC's quick response to the Space Station redesign effort last year required the development of a computer simulation to model the attitude and station-keeping dynamics of a complex body with rotating solar arrays in orbit around the Earth. The simulation was written using a rapid-prototyping graphical simulation and design tool called MATRIX(x) and provided the capability to quickly remodel complex configuration changes by icon manipulation using a mouse. The simulation determines time-dependent inertia properties, and models forces and torques from gravity-gradient, solar radiation, and aerodynamic disturbances. Surface models are easily built from a selection of beams, plates, tetrahedrons, and cylinders. An optimization scheme was written to determine the torque equilibrium attitudes that balance gravity-gradient and aerodynamic torques over an orbit, and propellant-usage estimates were determined. The simulation has been adapted to model the attitude dynamics for small spacecraft.

Carrington, C. K.↗

NASA NTRS1995

Two-micron Laser Atmospheric Wind Sounder (LAWS) pointing/tracking study

The objective of the study was to identify and model major sources of short-term pointing jitter for a free-flying, full performance 2 micron LAWS system and evaluate the impact of the short-term jitter on wind-measurement performance. A fast steering mirror controls system was designed for the short-term jitter compensation. The performance analysis showed that the short-term jitter performance of the controls system over the 5.2 msec round-trip time for a realistic spacecraft environment was = 0.3 micro rad, rms, within the specified value of less than 0.5 micro rad, rms, derived in a 2 micron LAWS System Study. Disturbance modes were defined for: (1) the Bearing and Power Transfer Assembly (BAPTA) scan bearing, (2) the spacecraft reaction wheel torques, and (3) the solar array drive torques. The scan bearing disturbance was found to be the greatest contributing noise source to the jitter performance. Disturbances from the fast steering mirror reaction torques and a boom-mounted cross-link antenna clocking were also considered but were judged to be small compared to the three principal disturbance sources above and were not included in the final controls analysis.

Manlief, Scott↗

NASA NTRS1995

Effects of bearing cleaning and lube environment on bearing performance

Running torque data of SR6 ball bearings are presented for different temperatures and speeds. The data are discussed in contrast to generally used torque prediction models and point out the need to obtain empirical data in critical applications. Also, the effects of changing bearing washing techniques from old, universally used CFC-based systems to CFC-free aqueous/alkaline solutions are discussed. Data on wettability, torque and lubricant life using SR3 ball bearings are presented. In general, performance is improved using the new aqueous washing techniques.

Ward, Peter C.↗

NASA NTRS1995

Autonomous control system reconfiguration for spacecraft with non-redundant actuators

The Small Satellite Technology Initiative (SSTI) 'CLARK' spacecraft is required to be single-failure tolerant, i.e., no failure of any single component or subsystem shall result in complete mission loss. Fault tolerance is usually achieved by implementing redundant subsystems. Fault tolerant systems are therefore heavier and cost more to build and launch than non-redundent, non fault-tolerant spacecraft. The SSTI CLARK satellite Attitude Determination and Control System (ADACS) achieves single-fault tolerance without redundancy. The attitude determination system system uses a Kalman Filter which is inherently robust to loss of any single attitude sensor. The attitude control system uses three orthogonal reaction wheels for attitude control and three magnetic dipoles for momentum control. The nominal six-actuator control system functions by projecting the attitude correction torque onto the reaction wheels while a slower momentum management outer loop removes the excess momentum in the direction normal to the local B field. The actuators are not redundant so the nominal control law cannot be implemented in the event of a loss of a single actuator (dipole or reaction wheel). The spacecraft dynamical state (attitude, angular rate, and momentum) is controllable from any five-element subset of the six actuators. With loss of an actuator the instantaneous control authority may not span R(3) but the controllability gramian integral(limits between t,0) Phi(t, tau)B(tau )B(prime)(tau) Phi(prime)(t, tau)d tau retains full rank. Upon detection of an actuator failure the control torque is decomposed onto the remaining active axes. The attitude control torque is effected and the over-orbit momentum is controlled. The resulting control system performance approaches that of the nominal system.

Grossman, Walter↗

NASA NTRS1994

Contributions to the Earth's obliquity rate, precession, and nutation

The precession and nutation of the Earth's equator arise from solar, lunar, and planetary torques on the oblate Earth. The mean lunar orbit plane is nearly coincident with the ecliptic plane. A small tilt out of the ecliptic is caused by planetary perturbations and the Earth's gravitational harmonic J(sub2). These planetary perturbations on the lunar orbit result in torques on the oblate Earth which contribute to precession, obliquity rate, and nutation while the J(sub 2) perturbations contribute to precession and nutation. Small additional contributions to the secular rates arise from tidal effects and planetary torques on the Earth's bulge. The total correction to the obliquity rate is -0.024sec/century, it is an observable motion in space (the much larger conventional obliquity rate is wholly from the motion of the ecliptic, not the equator), and it is not present in the IAU-adopted expressions for the orientation of the Earth's equator. The J(sub2) effects have generally been allowed for in past nutation theories and some procession theories. For the planetary effect, the contributions to the 18.6 yr nutation are -0.03 mas (milliarcseconds) for the in-phase Delta phi plus out-of-phase contributions of 0.14 mas in Delta phi and -0.03 mas in Delta epsilon. The latter terms demonstrate that out-of-phase contributions can arise by means other than dissipation. The sum of the contributions to the precession rate is considered and the inferred value of the moment of inertia combination (C-A)/C, which is used to scale the coefficients in the nutation series, is evaluated. Using an updated value for the precession rate, the rigid body (C-A)/C = 0.003 273 763 4 which, in combination with a satellite-derived J(sub2), gives a normalized polar moment of inertia C/MR(exp2) = 0.330 700 7. The planetary contributions to the precession and obliquity rates are not constant for long times causing accelerations in both quantities. Acceleration in precession also arises from tides and changing J(sub2). Contributions from the improved theory, masses, ecliptic motion, and measured values of the precession rate and obliquity are combined to give expressions (polynomials in time) for precession, obliquity, and Greenwich Mean Sidereal Time.

Williams, James G.↗

NASA NTRS1994

Nonlinear evolution of tidally distorted accretion disks: Two-dimensional simulations

According to a previously published linear analysis, the tidal distortion of accretion disks in binary star systems produces a local hydrodynamic instability to m = 1 internal waves, which may have arbitrarily small wavelengths in the absence of viscosity. The instability is three-dimensional and approximately incrompressible. To explore the nonlinear outcome of this instability, we develop a shearing-sheet approximation on scales comparable to the disk thickness. The large-scale azimuthal variation of the disk is represented by varying the local metric with time (local orbital phase). The hydrodynamic equations can then be posed two-dimensionally on local meridional planes. We solve these equations with a second-order gasdynamical code based on the Total-Variation-Diminishing scheme. Our simulations confirm the predicted linear growth rate. The modes saturate chaotically at velocities scaling as the product of the linear growth rate and the wavelength. If the wavelength is small compared with the disk thickness, the modes remain nearly incompressible even when nonlinear. The two-dimensional power spectrum of velocities after saturation is roughly isotropic and extends over a broad range of scales in an approximately power-law fashion. We measure the heating rate associated with the nonlinear dissipation of the modes. The dissipation implies a secular torque on the disk and a return of angular momentum to the secondary star via the tidal potential. The estimated torque is somewhat larger than the tidal torque produced by maximal disk viscosity (alpha approximately 1). At least in these two-dimensional simulations, however, there is no significant angular momentum flux within the disk.

Ryu, Dongsu↗