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At least 919 records · Page 51
All sourcesNASA NTRSDOE OSTI
NASA NTRS1985

Generated spiral bevel gears - Optimal machine-tool settings and tooth contact analysis

Geometry and kinematic errors were studied for Gleason generated spiral bevel gears. A new method was devised for choosing optimal machine settings. These settings provide zero kinematic errors and an improved bearing contact. The kinematic errors are a major source of noise and vibration in spiral bevel gears. The improved bearing contact gives improved conditions for lubrication. A computer program for tooth contact analysis was developed, and thereby the new generation process was confirmed. The new process is governed by the requirement that during the generation process there is directional constancy of the common normal of the contacting surfaces for generator and generated surfaces of pinion and gear.

Litvin, F. L.↗
NASA NTRS1987

Systems simulations supporting NASA telerobotics

Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. This paper describes both ROBSIM and TRSS, including their capability, status, and future plans. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.

Harrison, F. Wallace, Jr.↗
NASA NTRS1986

Application of satellite data to the variational analysis of the three dimensional wind field

The use of a hybrid vertical velocity algorithm, composed of the kinematic and adiabatic methods of Pettersen (1956), to analyze three-dimensional wind fields is studied. The basic principles and advantages and disadvantages of the adiabatic and kinematic techniques are discussed. The adiabatic method is useful in the clear regions and above the tropopause and the kinematic method is applicable near the surface and in cloudy regions. The effects of a finite difference scheme and the objective analysis of Barnes (1973) on a wind field are investigated. The variational algorithm is evaluated by applying it to SESAME data collected in April 1979.

Chance, Barbara A.↗
NASA NTRS1988

Stochastic estimation of organized turbulent structure - Homogeneous shear flow

A generalization of the conditional-eddy concept is proposed in which the conditional event specifies the local kinematic state in terms of the velocity and the deformation. Results are presented for stochastically estimated conditional eddies given the local kinematics. The equation governing the probability density function of a kinematic state has been derived for constant-property incompressible flow, providing a link between coherent flow structures corresponding to the conditional eddies and the modelling of turbulent transport. The primary contributions to the second-quadrant and fourth-quadrant Reynolds-stress events in homogeneous shear flow are shown to come from flow induced through the 'legs' and close to the 'heads' of upright and inverted 'hairpins', respectively.

Adrian, Ronald J.↗
NASA NTRS1988

Redundant manipulators for momentum compensation in a micro-gravity environment

This paper is concerned with the implementation and assessment of joint motion management strategies for kinematically redundant robotic manipulators operating in the micro-gravity environment of Space Station. These robots must be capable of conducting experiments and manufacturing processes without disturbing the micro-gravity environment through base reactions/motions. The redundant degrees of freedom of the manipulator permit the inverse kinematic problem to be solved simultaneously with the minimization of a cost function. The cost function in this case is the weighted sum of the squares of the base forces and moments and is minimized over discrete time segments. The Generalized Inverse Method and Rayleigh Ritz technique are used to solve the combined optimization/inverse kinematics problem. Numerical examples include various robotic configurations and degrees of manipulator redundancy.

Quinn, R. D.↗
NASA NTRS1989

Generation Method Improves Spiral Bevel Gears

Conjugate tooth surfaces reduce kinematic errors. Method for generation of spiral bevel gears provides conjugated gear-tooth surfaces and improved bearing contact. Conjugated surfaces preferable because maintain constant gear ratios during tooth-contact cycles. Changing gear ratios of nonconjugated surfaces give rise to kinematical errors in transfer of motion from driving gears to driven gears. Errors major sources of noise in power transmissions. Computer program developed to simulate cutting and meshing processes for pinions and gears to minimize kinematical errors.

Litvin, Faydor L.↗
NASA NTRS1987

An optimal resolved rate law for kindematically redundant manipulators

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution was found to cause large joint rates in some case. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to nonplanar manipulators.

Bourgeois, B. J.↗
NASA NTRS1989

Dynamics of articulated structures

An articulated structure is defined as an assembly of flexible bodies that may be coupled by kinematic connections and force elements that permit large relative displacement and rotation. Kinematics of such systems is defined using one reference frame for each body in the system and deformation modal coordinates that define displacement fields within flexible bodies. Deformation kinematics are defined by both elastic vibration and static correction deformation modes. Linear elastic deformation is presumed; i.e., a linear stress-strain relation is valid and relative displacements within each elastic component are small enough so that the theory of linear elasticity applies. Coupling of reference and modal coordinates leads to a system of nonlinear equations of motion. Methods of automatically generating and solving these equations of motion are outlined.

Haug, Edward J.↗
NASA NTRS1987

Systems simulations supporting NASA telerobotics

Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. Both ROBSIM and TRSS, including their capability, status, and future plans are discussed. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.

Harrison, F. W., Jr.↗
NASA NTRS1987

A virtual manipulator model for space robotic systems

Future robotic manipulators carried by a spacecraft will be required to perform complex tasks in space, like repairing satellites. Such applications of robotic manipulators will encounter a number of kinematic, dynamic and control problems due to the dynamic coupling between the manipulators and the spacecraft. A new analytical modeling method for studying the kinematics and dynamics of manipulators in space is presented. The problem is treated by introducing the concept of a Virtual Manipulator (VM). The kinematic and dynamic motions of the manipulator, vehicle and payload, can be described relatively easily in terms of the Virtual Manipulator movements, which have a fixed base in inertial space at a point called a Virtual Ground. It is anticipated that the approach described here will aid in the design and development of future space manipulator systems.

Dubowsky, S.↗
NASA NTRS1990

Architectural study of the design and operation of advanced force feedback manual controllers

A teleoperator system consists of a manual controller, control hardware/software, and a remote manipulator. It was employed in either hazardous or unstructured, and/or remote environments. In teleoperation, the main-in-the-loop is the central concept that brings human intelligence to the teleoperator system. When teleoperation involves contact with an uncertain environment, providing the feeling of telepresence to the human operator is one of desired characteristics of the teleoperator system. Unfortunately, most available manual controllers in bilateral or force-reflecting teleoperator systems can be characterized by their bulky size, high costs, or lack of smoothness and transparency, and elementary architectures. To investigate other alternatives, a force-reflecting, 3 degree of freedom (dof) spherical manual controller is designed, analyzed, and implemented as a test bed demonstration in this research effort. To achieve an improved level of design to meet criteria such as compactness, portability, and a somewhat enhanced force-reflecting capability, the demonstration manual controller employs high gear-ratio reducers. To reduce the effects of the inertia and friction on the system, various force control strategies are applied and their performance investigated. The spherical manual controller uses a parallel geometry to minimize inertial and gravitational effects on its primary task of transparent information transfer. As an alternative to the spherical 3-dof manual controller, a new conceptual (or parallel) spherical 3-dof module is introduced with a full kinematic analysis. Also, the resulting kinematic properties are compared to those of other typical spherical 3-dof systems. The conceptual design of a parallel 6-dof manual controller and its kinematic analysis is presented. This 6-dof manual controller is similar to the Stewart Platform with the actuators located on the base to minimize the dynamic effects. Finally, a combination of the new 3-dof and 6-dof concepts is presented as a feasible test-bed for enhanced performance in a 9-dof system.

Tesar, Delbert↗
NASA NTRS1989

A decoupled recursive approach for constrained flexible multibody system dynamics

A variational-vector calculus approach is employed to derive a recursive formulation for dynamic analysis of flexible multibody systems. Kinematic relationships for adjacent flexible bodies are derived in a companion paper, using a state vector notation that represents translational and rotational components simultaneously. Cartesian generalized coordinates are assigned for all body and joint reference frames, to explicitly formulate deformation kinematics under small deformation kinematics and an efficient flexible dynamics recursive algorithm is developed. Dynamic analysis of a closed loop robot is performed to illustrate efficiency of the algorithm.

Lai, Hao-Jan↗
NASA NTRS1990

A reduced-dynamic technique for precise orbit determination

Observations of the Global Positioning System (GPS) will enable a reduced-dynamic technique for achieving subdecimeter orbit determination of earth-orbiting satellites. With this technique, information on the transition between satellite states at different observing times is furnished by both a formal dynamic model and observed satellite positional change (which is inferred kinematically from continuous GPS carrier-phase data). The relative weighting of dynamic and kinematic information can be freely varied. Covariance studies show that in situations where observing geometry is poor and the dynamic model is good, the model dominates determination of the state transition; where the dynamic model is poor and the geometry strong, carrier phase governs the determination of the transition. When neither kinematic nor dynamic information is clearly superior, the reduced-dynamic combination of the two can substantially improve the orbit-determination solution. Guidelines are given here for selecting a near-optimal weighting for the reduced-dynamic solution, and sensitivity of solution accuracy to this weighting is examined.

Wu, S. C.↗
NASA NTRS1989

A new approach to global control of redundant manipulators

A new and simple approach to configuration control of redundant manipulators is presented. In this approach, the redundancy is utilized to control the manipulator configuration directly in task space, where the task will be performed. A number of kinematic functions are defined to reflect the desirable configuration that will be achieved for a given end-effector position. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. An adaptive scheme is then utilized to globally control the configuration variables so as to achieve tracking of some desired reference trajectories. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The control law is simple and computationally very fast, and does not require the complex manipulator dynamic model.

Seraji, Homayoun↗
NASA NTRS1991

Self-Motion Manifolds Of Redundant Manipulators

New perspective on redundancy yields alternative control strategies. Self-motion manifolds introduced to characterization of self-motions of robotic manipulator having redundant degrees of freedom. Kinematics of robot reformulated via manifold mapping stressing global, rather than local, kinematic analysis. Approach useful in study of redundant manipulator kinematics. In addition, problem of resolution of redundancy posed equivalently as problem of control of self-motions, and self-motion manifolds useful in investigating, interpreting, and formulating both local and global techniques for resolution of redundancy.

Burdick, Joel W.↗
NASA NTRS1990

Intelligent manipulation technique for multi-branch robotic systems

New analytical development in kinematics planning is reported. The INtelligent KInematics Planner (INKIP) consists of the kinematics spline theory and the adaptive logic annealing process. Also, a novel framework of robot learning mechanism is introduced. The FUzzy LOgic Self Organized Neural Networks (FULOSONN) integrates fuzzy logic in commands, control, searching, and reasoning, the embedded expert system for nominal robotics knowledge implementation, and the self organized neural networks for the dynamic knowledge evolutionary process. Progress on the mechanical construction of SRA Advanced Robotic System (SRAARS) and the real time robot vision system is also reported. A decision was made to incorporate the Local Area Network (LAN) technology in the overall communication system.

Chen, Alexander Y. K.↗
NASA NTRS1991

On the thermodynamics of stress rate in the evolution of back stress in viscoplasticity

A thermodynamic foundation using the concept of internal state variables is presented for the kinematic description of a viscoplastic material. Three different evolution equations for the back stress are considered. The first is that of classical, nonlinear, kinematic hardening. The other two include a contribution that is linear in stress rate. Choosing an appropriate change in variables can remove this stress rate dependence. As a result, one of these two models is shown to be equivalent to the classical, kinematic hardening model; while the other is a new model, one which seems to have favorable characteristics for representing ratchetting behavior. All three models are thermodynamically admissible.

Freed, Alan D.↗
NASA NTRS1991

Experimental study of trajectory planning and control of a high precision robot manipulator

The kinematic and trajectory planning is presented for a 6 DOF end-effector whose design was based on the Stewart Platform mechanism. The end-effector was used as a testbed for studying robotic assembly of NASA hardware with passive compliance. Vector analysis was employed to derive a closed-form solution for the end-effector inverse kinematic transformation. A computationally efficient numerical solution was obtained for the end-effector forward kinematic transformation using Newton-Raphson method. Three trajectory planning schemes, two for fine motion and one for gross motion, were developed for the end-effector. Experiments conducted to evaluate the performance of the trajectory planning schemes showed excellent tracking quality with minimal errors. Current activities focus on implementing the developed trajectory planning schemes on mating and demating space-rated connectors and using the compliant platform to acquire forces/torques applied on the end-effector during the assembly task.

Nguyen, Charles C.↗