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At least 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS1983

Manipulator interactive design with interconnected flexible elements

This paper describes the development of an analysis tool for the interactive design of control systems for manipulators and similar electro-mechanical systems amenable to representation as structures in a topological chain. The chain consists of a series of elastic bodies subject to small deformations and arbitrary displacements. The bodies are connected by hinges which permit kinematic constraints, control, or relative motion with six degrees of freedom. The equations of motion for the chain configuration are derived via Kane's method, extended for application to interconnected flexible bodies with time-varying boundary conditions. A corresponding set of modal coordinates has been selected. The motion equations are imbedded within a simulation that transforms the vector-dyadic equations into scalar form for numerical integration. The simulation also includes a linear, time-invariant controler specified in transfer function format and a set of sensors and actuators that interface between the structure and controller. The simulation is driven by an interactive set-up program resulting in an easy-to-use analysis tool.

Singh, R. P.↗
NASA NTRS1984

Lithospheric stresses due to radiogenic heating of an ice-silicate planetary body - Implications for Ganymede's tectonic evolution

Thermal evolution models of differentiated and undifferentiated ice-silicate bodies containing long-lived radiogenic heat sources are examined. Lithospheric sresses arise due to volume change of the interior and temperature change in the lithosphere. For an undifferentiated body, the surface stress peaks early in the evolution, while in the differentiated case, stresses peak later and continue to accumulate for longer periods of time. The variation of near-surface stress with depth shows that stresses for the undifferentiated body initially penetrate to great depths, but rapidly concentrate within a few kilometers of the surface. For the differentiated body, elastic stresses never accumulate at a depth greater than a few kilometers. These models are applied to consider long-term rdioactive heating as a possible mechanism of tectonic activity and bright terrain formation on Ganymede.

Zuber, M. T.↗
NASA NTRS1984

A numerical analysis of contact and limit-point behavior in a class of problems of finite elastic deformation

Finite element methods for the analysis of bifurcations, limit-point behavior, and unilateral frictionless contact of elastic bodies undergoing finite deformation are presented. Particular attention is given to the development and application of Riks-type algorithms for the analysis of limit points and exterior penalty methods for handling the unilateral constraints. Applications focus on the problem of finite axisymmetric deformations, snap-through, and inflation of thick rubber spherical shells.

Endo, T.↗
NASA NTRS1985

Waveform synthesis of surface waves in a laterally heterogeneous earth by the Gaussian beam method

The present investigation is concerned with an application of the Gaussian beam method to surface waves in the laterally heterogeneous earth. The employed method has been developed for ray tracing and synthesizing seismograms of surface waves in cases involving the laterally heterogeneous earth. The procedure is based on formulations derived by Yomogida (1985). Vertical structure of the wave field is represented by the eigenfunctions of normal mode theory, while lateral variation is expressed by the parabolic equation as in two-dimensional acoustic waves or elastic body waves. It is demonstrated that a large-amplitude change can result from a slight perturbation in the phase velocity model.

Yomogida, K.↗
NASA NTRS1986

The mechanics of solids in the plastically-deformable state

The mechanics of continua, which is based on the general stress model of Cauchy, up to the present has almost exclusively been applied to liquid and solid elastic bodies. Saint-Venant has developed a theory for the plastic or remaining form changes of solids, but it does not give the required number of equations for determining motion. A complete set of equations of motion for plastic deformable bodies is derived. This is done within the framework of Cauch mechanics. And it is supported by certain experimental facts which characterize the range of applications.

Mises, R. V.↗
NASA NTRS1986

Impact damage of composites

A model is described for estimating the impact damage of fiber reinforced composite plates. The displacements and stresses are calculated by a three dimensional transient, finite element method of solution of the governing equations applicable to a linearly elastic body. The region in which damage occurs is estimated using the Tsai-Wu failure criterion. A computer code was developed which can be used to calculate the impact force, displacements and velocities of the plate and the impact body, stresses and strains in the plate, and the damage area. Sample numerical results are presented illustrating the type of information provided by the code. Comparisons between measured and calculated damage areas are also given.

Wu, Hsi-Young T.↗
NASA NTRS1989

Implementation of equivalent domain integral method in the two-dimensional analysis of mixed mode problems

An equivalent domain integral (EDI) method for calculating J-intergrals for two-dimensional cracked elastic bodies is presented. The details of the method and its implementation are presented for isoparametric elements. The total and product integrals consist of the sum of an area of domain integral and line integrals on the crack faces. The line integrals vanish only when the crack faces are traction free and the loading is either pure mode 1 or pure mode 2 or a combination of both with only the square-root singular term in the stress field. The EDI method gave accurate values of the J-integrals for two mode I and two mixed mode problems. Numerical studies showed that domains consisting of one layer of elements are sufficient to obtain accurate J-integral values. Two procedures for separating the individual modes from the domain integrals are presented. The procedure that uses the symmetric and antisymmetric components of the stress and displacement fields to calculate the individual modes gave accurate values of the integrals for all problems analyzed. The EDI method when applied to a problem of an interface crack in two different materials showed that the mode 1 and mode 2 components are domain dependent while the total integral is not. This behavior is caused by the presence of the oscillatory part of the singularity in bimaterial crack problems. The EDI method, thus, shows behavior similar to the virtual crack closure method for bimaterial problems.

Raju, I. S.↗
NASA NTRS1989

An equivalent domain integral for analysis of two-dimensional mixed mode problems

An equivalent domain integral (EDI) method for calculating J-integrals for two-dimensional cracked elastic bodies subjected to mixed mode loading is presented. The total and product integrals consist of the sum of an area or domain integral and line integrals on the crack faces. The EDI method gave accurate values of the J-integrals for two mode I and two mixed mode problems. Numerical studies showed that domains consisting of one layer of elements are sufficient to obtain accurate J-integral values. Two procedures for separating the individual modes from the domain integrals are presented. The procedure that uses the symmetric and antisymmetric components of the stress and displacement fields to calculate the individual modes gave accurate values of the integrals for all the problems analyzed.

Raju, I. S.↗
NASA NTRS1990

An equivalent domain integral method in the two-dimensional analysis of mixed mode crack problems

An equivalent domain integral (EDI) method for calculating J-integrals for two-dimensional cracked elastic bodies is presented. The details of the method and its implementation are presented for isoparametric elements. The EDI method gave accurate values of the J-integrals for two mode I and two mixed mode problems. Numerical studies showed that domains consisting of one layer of elements are sufficient to obtain accurate J-integral values. Two procedures for separating the individual modes from the domain integrals are presented.

Raju, I. S.↗
NASA NTRS1990

A contact stress model for multifingered grasps of rough objects

The model developed utilizes a contact-stress analysis of an arbitrarily shaped object in a multifingered grasp. The fingers and the object are all treated as elastic bodies, and the region of contact is modeled as a deformable surface patch. The relationship between the friction and normal forces is nonlocal and nonlinear in nature and departs from the Coulomb approximation. The nature of the constraints arising out of conditions for compatibility and static equilibrium motivated the formulation of the model as a nonlinear constrained minimization problem. The model is able to predict the magnitude of the inwardly directed normal forces and both the magnitude and direction of the tangential (friction) forces at each finger-object interface for grasped objects in static equilibrium.

Sinha, Pramath Raj↗
NASA NTRS1990

Topology and boundary shape optimization as an integrated design tool

The optimal topology of a two dimensional linear elastic body can be computed by regarding the body as a domain of the plane with a high density of material. Such an optimal topology can then be used as the basis for a shape optimization method that computes the optimal form of the boundary curves of the body. This results in an efficient and reliable design tool, which can be implemented via common FEM mesh generator and CAD type input-output facilities.

Bendsoe, Martin Philip↗
NASA NTRS1990

Second-order design sensitivities for linear elastic problems

The subject of this paper is the efficient and accurate determination of second-order design sensitivities in elastic bodies. The approach being carried out here is the direct differentiation of the governing derivative boundary element method (DBEM) formulation of the problem. Second-order sensitivities of boundary stresses are obtained in an elegant manner. A numerical implementation of the method is carried out with isoparametric quadratic boundary elements and numerical results are presented for several sample problems. Considerable savings in computational effort for an optimization procedure is possible through the use of efficiently determined accurate second-order design sensitivities.

Zhang, Qing↗
NASA NTRS1994

Shoemaker-Levy 9 and the tidal disruption of comets

The break-up of Periodic Comet Shoemaker-Levy 9 into multiple pieces following its grazing encounter with Jupiter in July 1992 can be used to study tidally-induced fracture in comets. This spectacular event allows us not only to set limits on the size, strength and density of Shoemaker-Levy 9 itself, but provides invaluable guidance to numerical modeling of such encounters. In an extensive treatment of tidal breakup which assumed self-gravitating, homogeneous, perfectly elastic bodies, Dobrovolskis derived simple analytical expressions for the tidally-induced surface and central stresses. Both can be cast in such a way that Poisson's ratio is the only material dependent constant entering these expressions. Whether both surface and central failure must be initiated as a criterion for breakup, or either one of them is sufficient, remains a subject of disagreement. To resolve this debate, we model the details of cometary breakup using a three-dimensional Smooth Particle Hydrodynamics (SPH) code modified to simulate fracture in small solid objects. At lower stresses associated with brittle failure, we use a rate-dependent strength based on the nucleation of incipient flaws whose number density is given by a Weibull distribution.

Benz, W.↗
NASA NTRS2011

Fortnightly Earth Rotation, Ocean Tides, and Mantle Anelasticity

Sustained accurate measurements of earth rotation are one of the prime goals of Global Geodetic Observing System (GGOS). We here concentrate on the fortnightly (Mf) tidal component of earth-rotation data to obtain new results concerning anelasticity of the mantle at this period. The study comprises three parts: (1) a new determination of the Mf component of polar motion and length-of-day from a multi-decade time series of space-geodetic data; (2) the use of the polar-motion determination as one constraint in the development of a hydrodynamic ocean model of the Mf tide; and (3) the use of these results to place new constraints on mantle anelasticity. Our model of the Mf ocean tide assimilates more than fourteen years of altimeter data from the Topex/Poseidon and Jason-1 satellites. The polar motion data, plus tide-gauge data and independent altimeter data, give useful additional information, with only the polar motion putting constraints on tidal current velocities. The resulting ocean-tide model, plus the dominant elastic body tide, leaves a small residual in observed length-of-day caused by mantle anelasticity. The inferred effective tidal 0 of the anelastic body tide is 90 and is in line with a omega-alpha frequency dependence with alpha in the range 0.2--0.3.

Ray, Richard D.↗
NASA NTRS1972

Large-deformation modal coordinates for nonrigid vehicle dynamics

The derivation of minimum-dimension sets of discrete-coordinate and hybrid-coordinate equations of motion of a system consisting of an arbitrary number of hinge-connected rigid bodies assembled in tree topology is presented. These equations are useful for the simulation of dynamical systems that can be idealized as tree-like arrangements of substructures, with each substructure consisting of either a rigid body or a collection of elastically interconnected rigid bodies restricted to small relative rotations at each connection. Thus, some of the substructures represent elastic bodies subjected to small strains or local deformations, but possibly large gross deformations, in the hybrid formulation, distributed coordinates referred to herein as large-deformation modal coordinates, are used for the deformations of these substructures. The equations are in a form suitable for incorporation into one or more computer programs to be used as multipurpose tools in the simulation of spacecraft and other complex electromechanical systems.

Likins, P. W.↗
NASA NTRS1973

Computer program for the load and trajectory analysis of two DOF bodies connected by an elastic tether: Users manual

The derivation of the differential equations of motion of a 3 Degrees of Freedom body joined to a 3 Degrees of Freedom body by an elastic tether. The tether is represented by a spring and dashpot in parallel. A computer program which integrates the equations of motion is also described. Although the derivation of the equations of motions are for a general system, the computer program is written for defining loads in large boosters recovered by parachutes.

Doyle, G. R., Jr.↗