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At least 757 records · Page 42

All sources NASA NTRS DOE OSTI

NASA NTRS1990

Performance limitations of joint variable-feedback controllers due to manipulator structural flexibility

The performance limitations of manipulators under joint variable-feedback control are studied as a function of the mechanical flexibility inherent in the manipulator structure. A finite-dimensional time-domain dynamic model of a two-link two-joint planar manipulator is used in the study. Emphasis is placed on determining the limitations of control algorithms that use only joint variable-feedback information in calculations of control decisions, since most motion control systems in practice are of this kind. Both fine and gross motion cases are studied. Results for fine motion agree well with previously reported results in the literature and are also helpful in explaining the performance limitations in fast gross motions.

Cetinkunt, Sabri↗

NASA NTRS1990

Aerothermal environment induced by mismatch at the SSME main combustion chamber-nozzle joint

The computational study reported here is motivated by a Space Shuttle main engine hardware problem detected in post-flight and post-test inspections. Of interest are the potential for hot gas ingestion into the joint (G15) at the main combustion chamber-to-nozzle interface and the effect of particular goemetric nonuniformities on that gas ingestion. The flowfield in the G15 region involves supersonic flow past a rounded forward facing step preceded by a deep narrow cavity. This paper describes the physical problem associated with joint G15 and computational investigations of the G15 aerothermal environment. The associated flowfield was simulated in two and three space dimensions using the United Solutions Algorithm (USA) computational fluid dynamics code series. A benchmark calculation of experimentally measured supersonic flow over of a square cavity was performed to demonstrate the accuracy of the USA code in analyzing flows similar to the G15 computational flowfield. The G15 results demonstrate the mechanism for hot gas ingestion into the joint and reveal the sensitivity to salient geometric nonuniformities.

Mcconnaughey, H. V.↗

NASA NTRS1990

Clevis joint for deployable space structures

This invention relates generally to pin clevis joints, and more particularly, to zero play pin clevis joints for connecting structural members of a deployable space structure. A joint includes a pin, a tang, and a shackle. The pin is tapered at the same angle as the bores extending through the projections of the shackle and the tang. A spring washer biases the tang onto the tapered sidewall of the pin. The invention solves the free play problem associated with deployable space structures by using a tapered pin which is held in tapered holes by the spring washers.

Rhodes, Marvin D.↗

NASA NTRS1991

Forward and inverse kinematics of double universal joint robot wrists

A robot wrist consisting of two universal joints can eliminate the wrist singularity problem found on many individual robots. Forward and inverse position and velocity kinematics are presented for such a wrist having three degrees of freedom. Denavit-Hartenberg parameters are derived to find the transforms required for the kinematic equations. The Omni-Wrist, a commercial double universal joint robot wrist, is studied in detail. There are four levels of kinematic parameters identified for this wrist; three forward and three inverse maps are presented for both position and velocity. These equations relate the hand coordinate frame to the wrist base frame. They are sufficient for control of the wrist standing alone. When the wrist is attached to a manipulator arm; the offset between the two universal joints complicates the solution of the overall kinematics problem. All wrist coordinate frame origins are not coincident, which prevents decoupling of position and orientation for manipulator inverse kinematics.

Williams, Robert L., II↗

NASA NTRS1991

Deployable robotic woven wire structures and joints for space applications

Deployable robotic structures are basically expandable and contractable structures that may be transported or launched to space in a compact form. These structures may then be intelligently deployed by suitable actuators. The deployment may also be done by means of either airbag or spring-loaded typed mechanisms. The actuators may be pneumatic, hydraulic, ball-screw type, or electromagnetic. The means to trigger actuation may be on-board EPROMS, programmable logic controllers (PLCs) that trigger actuation based on some input caused by the placement of the structure in the space environment. The actuation may also be performed remotely by suitable remote triggering devices. Several deployable woven wire structures are examined. These woven wire structures possess a unique form of joint, the woven wire joint, which is capable of moving and changing its position and orientation with respect to the structure itself. Due to the highly dynamic and articulate nature of these joints the 3-D structures built using them are uniquely and highly expandable, deployable, and dynamic. The 3-D structure naturally gives rise to a new generation of deployable three-dimensional spatial structures.

Shahinpoor, MO↗

NASA NTRS1991

Aft segment dome-to-stiffener factory joint insulation void elimination

Since the detection of voids in the internal insulation of the dome-to-stiffener factory joint of the 15B aft segment, all aft segment dome-to-stiffener factory joints were x-rated and all were found to contain voids. Using a full-scale process simulation article (PSA), the objective was to demonstrate that the proposed changes in the insulation layup and vacuum bagging processes will greatly reduce or eliminate voids without adversely affecting the configuration of performance of the insulation which serves as a primary seal over the factory joint. The PSA-8 aft segment was insulated and cured using standard production processes.

Jensen, S. K.↗

NASA NTRS1990

Analytical and experimental study of the vibration of bonded beams with a lap joint

A theoretical model to study the flexural vibration of a bonded lap joint system is described in this paper. First, equations of motion at the joint region are derived using a differential element approach. The transverse displacements of the upper and lower beam are considered to be different. The adhesive is assumed to be linearly viscoelastic and the widely used Kelvin-Voight model is used to represent the viscoelastic behavior of the adhesive. The shear force at the interface between the adhesive and the beam is obtained from the simple bending motion equations of the two beams. The resulting equations of motion are combined with the equations of transverse vibration of the beams in the unjointed regions. These are later solved as a boundary value problem to obtain the eigenvalues and eigenvectors of the system. The model can be used to predict the natural frequencies, modal damping ratios, and mode shapes of the system for free vibration. Good agreement between numerical and experimental results was obtained for a system of graphite epoxy beams lap-jointed by an epoxy adhesive.

Rao, M. D.↗

NASA NTRS1991

A computer program to perform flow and thermal analysis during pressurization of the Space Shuttle Solid Rocket Motor field joint

A computational technique for prediction of the flow and thermal environment in the SRM field joint cavities is described. The SRM field joint hardware was tested with a defect in the insulation, and due to this defect, the O-ring gland cavities are pressurized during the early part of the ignition. A computer model is developed to predict the thermal environment and flow through the simulated flaw, during the pressurization of the field joint. The transient mass, momentum, and energy conservation equations in the flow passage together with the thermodynamic equation of state are solved by a fully implicit iterative numerical procedure.

Clayton, J. Louie↗

NASA NTRS1992

High-Pressure Lead-Through Joint

Improved ferrule-type joint carries multiple tubes for probes and wires into pressure vessel. High-pressure joint consists of four parts: ferrule, collar, antirotation pin, and nut. Collar easily removed and replaced. Tubes brazed to collar before joint assembled on pressure vessel. Forms virtually leakproof seal and withstands extreme operating environments.

Melton, Patrick B.↗

NASA NTRS1992

Preliminary Design Of Adhesively Bonded Composite Joints

Joints symmetrical and long enough to withstand cyclic loads and hygrothermal effects. Step-by-step procedure for preliminary design of adhesively bonded joints between laminated fiber-reinforced-matrix composite bars based on simplified methods for prediction of microstresses and local strengths, including interlaminar strengths. Involves approximate calculations of stresses in various components of joint. Includes calculations to determine such critical parameters as minimum length, maximum shear stress in adhesive, and peeloff stress. Deleterious effects of cyclic loading, increased temperature, and humidity also taken into account.

Chamis, C. C.↗

NASA NTRS1992

Experiences in the development of rotary joints for robotic manipulators in space applications

European developments in robotics for space applications have resulted in human arm-like manipulators with six or more rotational degrees of freedom. The rotary joints including their own electromechanical actuator and feedback sensors must be very compact units. The specific joint concept is presented as evolved so far. The problems encountered during the first hardware development phases are covered on both component and joint level.

Priesett, Klaus↗

NASA NTRS1991

Analysis and testing of a space crane articulating joint testbed

The topics are presented in viewgraph form and include: space crane concept with mobile base; mechanical versus structural articulating joint; articulating joint test bed and reference truss; static and dynamic characterization completed for space crane reference truss configuration; improved linear actuators reduce articulating joint test bed backlash; 1-DOF space crane slew maneuver; boom 2 tip transient response finite element dynamic model; boom 2 tip transient response shear-corrected component modes torque driver profile; peak root member force vs. slew time torque driver profile; and open loop control of space crane motion.

Thomas R Sutter↗

NASA NTRS1992

Method and apparatus for preloading a joint by remotely operable means

The invention is a method and apparatus for joining structures, an active structure and a passive structure, and imposing a tensile pre-load on the joint by a remotely operable mechanism comprising a heat contractible joining element. The method and apparatus include mounting on the structure, a probe shaft of material which is transformable from an expanded length to a contracted length when heated to a specific temperature range. The shaft is provided with a probe head which is receivable in a receptacle opening formed in the passive structure, when the active structure is moved into engagement therewith by an appropriate manipulator mechanism. A latching system mounted on the structure adjacent to the receptacle opening captures the probe head, when the probe head is inserted a predetermined amount. A heating coil on the shaft is energizable by remote control for heating the shaft to a temperature range which transforms the shaft to its contracted length, whereby a latching shoulder thereof engages latching elements of the latching system and imposes a tensile preload on the structural joint. Provision is also made for manually adjusting the probe head on the shaft to allow for manual detachment of the structures or manual preloading of the structural joint.

Shelton, Robert O.↗

NASA NTRS1992

Collaborative research on V/STOL control system/cockpit display tradeoffs under the NASA/MOD joint aeronautical program

Summarized here are activities that have taken place from 1979 to the present in a collaborative program between NASA Ames Research Center and the Royal Aerospace Establishment (now Defence Research Agency), Bedford on flight control system and cockpit display tradeoffs for low-speed and hover operations of future V/STOL aircraft. This program was created as Task 8A of the Joint Aeronautical Program between NASA in the United States and the Ministry of Defence (Procurement Executive) in the United Kingdom. The program was initiated based on a recognition by both parties of the strengths of the efforts of their counterparts and a desire to participate jointly in future simulation and flight experiments. In the ensuing years, teams of NASA and RAE engineers and pilots have participated in each other's simulation experiments to evaluate control and display concepts and define design requirements for research aircraft. Both organizations possess Harrier airframes that have undergone extensive modification to provide in-flight research capabilities in the subject areas. Both NASA and RAE have profited by exchanges of control/display concepts, design criteria, fabrication techniques, software development and validation, installation details, and ground and flight clearance techniques for their respective aircraft. This collaboration has permitted the two organizations to achieve jointly substantially more during the period than if they had worked independently. The two organizations are now entering the phase of flight research for the collaborative program as currently defined.

Franklin, J. A.↗

NASA NTRS1992

Semi-coupled flow and thermal analysis of the field joint during rapid pressurization of the redesigned solid rocket motor

A transient, semi-coupled, multi-dimensional thermal and flow analysis methodology was developed to predict the thermal/gas dynamic conditions in the field joint region of the Redesigned Solid Rocket Motor (RSRM). Transient temperature response, pressure history, and combustion gas flow rate (within the field joint region), were of principle interest, in the course of this study. The thermal environment in the field joint was modeled using SINDA, a finite difference based thermal network analyzer. The combustion gas flow boundary condition was generated using the FLAP code; this code performs a transient, lumped-parameter, control volume analysis to solve the mass, momentum, and energy conservation equations. The FLAP computer code was modified to account for erosion of the NBR insulation material, following ignition. An independent grid sensitivity study was conducted to determine an appropriate grid distribution near the wall. The predicted results, obtained using an optimum grid distribution and computer generated flow boundary condition, were compared with subscale test data.

Ghaffarian, Benny↗

NASA NTRS1992

Neural joint control for Space Shuttle Remote Manipulator System

Neural networks are being used to control a robot arm in a telerobotic operation. The concept uses neural networks for both joint and inverse kinematics in a robotic control application. An upper level neural network is trained to learn inverse kinematic mappings. The output, a trajectory, is then fed to the Decentralized Adaptive Joint Controllers. This neural network implementation has shown that the controlled arm recovers from unexpected payload changes while following the reference trajectory. The neural network-based decentralized joint controller is faster, more robust and efficient than conventional approaches. Implementations of this architecture are discussed that would relax assumptions about dynamics, obstacles, and heavy loads. This system is being developed to use with the Space Shuttle Remote Manipulator System.

Atkins, Mark A.↗

NASA NTRS1991

Time accurate Navier-Stokes computations of solid rocket motor internal field joint cavity flows

The low-speed flow of combustion gases in the Space Shuttle Solid Rocket Motor (SRM) following ignition are investigated with a time-accurate CFD technique. The flow of the combustion gases is examined in the forward joint section of the SRM at 80 s after ignition with attention given to the amplification of existing 'organ-pipe' modes of 15, 30, and 45 Hz resulting from frequency lock-in with vortex-shedding modes. The CFD code employed is a multizone compressible Navier-Stokes flow solver using a finite-volume, upwind-biased, total-variation-diminishing scheme. The vortex-generated oscillations generated by the inhibitor and the cavity at the forward field joint are described in terms of amplitude and frequency and related to the flow dynamics in the SRM. Oscillations are shown to occur spontaneously when the trailing edge of the cavity at the joint is sharp and can be amplified if the unburned portion of the inhibitor protrudes into the flow.

Farr, Rebecca A.↗

NASA NTRS1992

Decentralized control of large flexible structures by joint decoupling

A decentralized control design method is presented for large complex flexible structures by using the idea of joint decoupling. The derivation is based on a coupled substructure state-space model, which is obtained from enforcing conditions of interface compatibility and equilibrium to the substructure state-space models. It is shown that by restricting the control law to be localized state feedback and by setting the joint actuator input commands to decouple joint 'degrees of freedom' (dof) from interior dof, the global structure control design problem can be decomposed into several substructure control design problems. The substructure control gains and substructure observers are designed based on modified substructure state-space models. The controllers produced by the proposed method can operate successfully at the individual substructure level as well as at the global structure level. Therefore, not only control design but also control implementation is decentralized. Stability and performance requirement of the closed-loop system can be achieved by using any existing state feedback control design method. A two-component mass-spring damper system and a three-truss structure are used as examples to demonstrate the proposed method.

Su, Tzu-Jeng↗