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At least 1,171 records · Page 65

Assembly of objects with not fully predefined shapes

An assembly problem in a non-deterministic environment, i.e., where parts to be assembled have unknown shape, size and location, is described. The only knowledge used by the robot to perform the assembly operation is given by a connectivity rule and geometrical constraints concerning parts. Once a set of geometrical features of parts has been extracted by a vision system, applying such a rule allows the dtermination of the composition sequence. A suitable sensory apparatus allows the control the whole operation.

Arlotti, M. A.↗

Precedence relationship representations of mechanical assembly sequences

Two types of precedence relationship representations for mechanical assembly sequences are presented: precedence relationships between the establishment of one connection between two parts and the establishment of another connection, and precedence relationships between the establishment of one connection and states of the assembly process. Precedence relationship representations have the advantage of being very compact. The problem with these representations was how to guarantee their correctness and completeness. Two theorems are presented each of which leads to the generation of one type of precedence relationship representation guaranteeing its correctness and completeness for a class of assemblies.

Homendemello, L. S.↗

The flexure assembly design for the SIRTF one-meter primary mirror

A titanium flexure assembly for the Space Infrared Telescope Facility (SIRTF) 1-m primary mirror has been designed to accommodate: (1) the cryogenic cool-down effect on the optical performance of the mirror, (2) the Shuttle launch-load environment, and (3) the support-baseplate manufacturing tolerances. Numerous iterations involving a multidimensional design space search led to an assembly design that provides the stiffness and strength in the vertical (optical axis) and tangential directions to accommodate launch loads, but is compliant radially to accommodate cryogenic cool down. A 'folded back' titanium flexure system was required because of the differential thermal contraction of the aluminum telescope baseplate support and the fused-silica mirror. This unique and innovative flexure assembly represents a totally passive mechanism for accommodating the design launch loads, cryogenic cool down, and out-of-plane baseplate effects.

Richard, R. M.↗

Mechanical joints and large components for pathfinder in-space assembly and construction

This paper summarizes the background of the Pathfinder Project, In-Space Assembly, and Construction activity for fiscal year 1989. Work is presented on high strength mechanical truss joints and the definition of typical large components that might be required for assembly on-orbit and use on interplanetary space missions. Several mechanical joints were designed, and the most promising early design is presented in detail. The primary design drivers were the ability for robot assembly, the correction of up to a + or - 0.020 inch axial misalignment, and an axial load in the vicinity of + or - 100,000 lb. The most promising joint uses axisymmetric grooves to correct the misalignment and to transfer the load in a smooth path.

Finckenor, Jeff↗

Aerobrake assembly with minimum Space Station accommodation

The minimum Space Station Freedom accommodations required for initial assembly, repair, and refurbishment of the Lunar aerobrake were investigated. Baseline Space Station Freedom support services were assumed, as well as reasonable earth-to-orbit possibilities. A set of three aerobrake configurations representative of the major themes in aerobraking were developed. Structural assembly concepts, along with on-orbit assembly and refurbishment scenarios were created. The scenarios were exercised to identify required Space Station Freedom accommodations. Finally, important areas for follow-on study were also identified.

Katzberg, Steven J.↗

Payload spin assembly for the commercial Titan launch vehicle

A contract was completed to design, build, and test a Payload Spin Assembly (PSA) for installation onto the Martin Marietta Titan 3 Commercial launch vehicle. This assembly provides launch support for satellite payloads up to 5783 kilograms (6.37 tons) and controls release, spin-up, and final separation of the satellite from the second stage. Once separated, the satellite's Perigee Kick Motor (PKM) boosts the satellite into its transfer orbit. The first successful flight occurred December 31, 1989. Requirements, design, test, and problems associated with this mechanical assembly are discussed.

Robinson, Wilf↗

Aeroelastic modal characteristics of mistuned blade assemblies: Mode localization and loss of eigenstructure

An investigation of the effects of small mistuning on the aeroelastic modes of bladed disk assemblies with aerodynamic coupling between blades is presented. The cornerstone of the approach is the use and development of perturbation methods that exhibit the crucial role of the interblade coupling and yield general findings regarding mistuning effects. It is shown that blade assemblies with weak aerodynamic interblade coupling are highly sensitive to small blade mistuning, and that their dynamics is quantitatively altered in the following ways: the regular pattern that characterizes the root locus of the tuned aeroelastic eigenvalues in the complex plane is totally lost; the aeroelastic mode shapes becomes severely localized to only a few blades of the assembly and lose their constant interblade phase angle feature; and curve veering phenomena take place when the eigenvalues are plotted versus a mistuning parameter.

Pierre, Christophe↗

Space Station integrated truss structure and assembly techniques

The current design and on-orbit assembly techniques are examined for several principal elements and distributed systems attached to the Work Package 2 Space Station Freedom integrated truss structure. The truss structure is examined, including its configuration, the materials used in its construction, and the erectable joints used in its assembly in space. The unpressurized elements and distributed systems attached to and integrated into the truss structure are discussed and the assembly techniques relevant to them are described.

Wensley, David C.↗

Assembling a Space Station in orbit

The factors affecting the degree of difficulty of assembling a Space Station in orbit and ways of arriving at the optimum construction solution are briefly reviewed and applied to the Space Station Freedom (SSF). The assembly of the SSF navigation and control systems and the relevant tools and methods are examined along with the characteristics of early assembly flights. The most significant challenges facing the construction of the SSF are discussed, and new technologies which will be incorporated into the SSF are briefly considered.

Brand, Vance D.↗

Electronic assembly thermal testing - Dwell/duration/cycling

Testing of electronic assemblies varies throughout industry, NASA, and the military. Differences include test levels, atmospheric versus vacuum testing of assemblies, dwell durations at temperature extremes (especially high temperature), and thermal cycling versus dwell testing. Of particular interest are the different philosophies of thermal cycling versus single-cycle thermal dwell. An examination of the various failure physics for electronic assemblies has been initiated at JPL. The intent is to determine which failure modes are best revealed by thermal cycling testing and which are susceptible to high-temperature dwell physics. Preliminary results of this study are presented, along with discussions of testing goals, flight environments, reliability models, and the differences between industry and JPL design/test approaches.

Gibbel, Mark↗

Aeroelastic modal characteristics of mistuned blade assemblies - Mode localization and loss of eigenstructure

An investigation of the effects of small mistuning on the aeroelastic modes of bladed-disk assemblies with aerodynamic coupling between blades is presented. The cornerstone of the approach is the use and development of perturbation methods that exhibit the crucial role of the interblade coupling and yield general findings regarding mistuning effects. It is shown that blade assemblies with weak aerodynamic interblade coupling are highly sensitive to small blade mistuning, and that their dynamics is qualitatively altered in the following ways: the regular pattern that characterizes the root locus of the tuned aeroelastic eigenvalues in the complex plane is totally lost; the aeroelastic mode shapes become severely localized to only a few blades of the assembly and lose their constant interblade phase angle feature; curve veering phenomena take place when the eigenvalues are plotted versus a mistuning parameter.

Pierre, Christophe↗

A process for preparing an assembly of an article and a polyimide which resists dimensional change, delamination, and debonding when exposed to changes in temperature

An assembly of an article and a polyimide composition is prepared. The assembly resists dimensional change, delamination, or debonding when exposed to changes to temperature. An article is provided. A polyamic acid solution which yields a polyimide having a low coefficient of thermal expansion (CTE) was prepared. Equimolar quantities of an aromatic diamine and an aromatic dianhydride were reacted in a solvent medium to form a polyamic acid solution. A metal ion containing additive was added to the solution. Examples of this additive are: TbCl3, DyCl3, ErCl3, TmCl3, Al(C5H7O2)3, and Er2S3. The polyamic acid solution was imidized and is combined with the article to form the assembly.

Stoakley, Diane M.↗

Self assembly properties of primitive organic compounds

A central event in the origin of life was the self-assembly of amphiphilic, lipid-like compounds into closed microenvironments. If a primitive macromolecular replicating system could be encapsulated within a vesicular membrane, the components of the system would share the same microenvironment, and the result would be a step toward true cellular function. The goal of our research has been to determine what amphiphilic molecules might plausibly have been available on the early Earth to participate in the formation of such boundary structures. To this end, we have investigated primitive organic mixtures present in carbonaceous meteorites such as the Murchison meteorite, which contains 1-2 percent of its mass in the form of organic carbon compounds. It is likely that such compounds contributed to the inventory of organic carbon on the prebiotic earth, and were available to participate in chemical evolution leading to the emergence of the first cellular life forms. We found that Murchison components extracted into non-polar solvent systems are surface active, a clear indication of amphiphilic character. One acidic fraction self-assembles into vesicular membranes that provide permeability barriers to polar solutes. Other evidence indicates that the membranes are bimolecular layers similar to those formed by contemporary membrane lipids. We conclude that bilayer membrane formation by primitive amphiphiles on the early Earth is feasible. However, only a minor fraction of acidic amphiphiles assembles into bilayers, and the resulting membranes require narrowly defined conditions of pH and ionic composition to be stable. It seems unlikely, therefore, that meteoritic infall was a direct source of membrane amphiphiles. Instead, the hydrocarbon components and their derivatives more probably would provide an organic stock available for chemical evolution. Our current research is directed at possible reactions which would generate substantial quantities of membranogenic amphiphiles. One possibility is photochemical oxidation of hydrocarbons.

Deamer, D. W.↗

End-effector for robotic assembly of welded truss structures in space

In June 1987, work was initiated at LaRC on end-effectors and preloaded joints for robotic truss assembly. This is part of an on-going research effort centered on a test facility that assembles 1 inch x 2 m identical struts into an 8 m diameter x 1.5 m deep platform truss. A detailed description of the test facility was published. The end-effector being used for the LaRC assembly demonstration is quite suitable for the Precision Segmented Reflector or other precision applications. These require high stiffness provided by mechanical joint preloads. Stiffness obtained in this manner is only required and provided over a load range far less than the ultimate strength of the strut tubes. Beyond this useful range, truss behavior is somewhat unpredictable. Mechanically preloaded joints of this type are less suitable for applications such as the Aero Brake where predictable strength and stiffness are required over a greater fraction of the load bearing capacity of component parts. Preliminary studies of the Aerobrake support truss indicate that struts of at least 3 different diameters and various lengths would improve performance. The double-ended end-effector currently in service is designed for only one diameter and length. Anticipated single-ended versions can accommodate varying lengths but not multiple diameters. Tradeoff considerations for welded joints relative to their mechanically preloaded counterparts are presented. Conclusions from this research are as follows: (1) repair by cut and re-weld on the original weld site should be research; (2) welded joints, though repairable, should not be used where high repair frequencies are anticipated; and (3) welded joints should be considered for an Aero Brake truss.

Brewer, William V.↗

Development of a machine vision system for automated structural assembly

Research is being conducted at the LaRC to develop a telerobotic assembly system designed to construct large space truss structures. This research program was initiated within the past several years, and a ground-based test-bed was developed to evaluate and expand the state of the art. Test-bed operations currently use predetermined ('taught') points for truss structural assembly. Total dependence on the use of taught points for joint receptacle capture and strut installation is neither robust nor reliable enough for space operations. Therefore, a machine vision sensor guidance system is being developed to locate and guide the robot to a passive target mounted on the truss joint receptacle. The vision system hardware includes a miniature video camera, passive targets mounted on the joint receptacles, target illumination hardware, and an image processing system. Discrimination of the target from background clutter is accomplished through standard digital processing techniques. Once the target is identified, a pose estimation algorithm is invoked to determine the location, in three-dimensional space, of the target relative to the robots end-effector. Preliminary test results of the vision system in the Automated Structural Assembly Laboratory with a range of lighting and background conditions indicate that it is fully capable of successfully identifying joint receptacle targets throughout the required operational range. Controlled optical bench test results indicate that the system can also provide the pose estimation accuracy to define the target position.

Sydow, P. Daniel↗

A space crane concept for performing on-orbit assembly

The topics are presented in viewgraph form and include: in-space assembly and construction enhances future mission planning flexibility; in-space assembly and construction facility concept; space crane concept with mobile base; fundamental characteristics; space crane research approach; spacecraft component positioning and assembly test-bed; and articulating joint testbed.

John T Dorsey↗

Precise positioning and compliance synthesis for automatic assembly using Lorentz levitation

Many manufacturing assembly tasks require fine compliant motion and fast, accurate positioning. Conventional robots perform poorly in these tasks because of their large mass, friction and backlash in gears, cogging in drive motors and other deleterious effects. Even robots equipped with special control systems enabling compliant operation offer only partial solutions. It is difficult or impossible to automate many product assemblies requiring fine, compliant motion. This problem can be greatly alleviated by dividing the manipulation system into coarse and fine domains. In this scenario, a standard industrial robot can serve as a coarse positioner which in turn carries a six degrees of freedom fine motion wrist. Thus the robot can access a workspace measured in meters at low bandwidth and low resolution while the wrist can move over millimeters at high bandwidth and high resolution during the final phase of the assembly operation. Work indicates that fine motion wrists using Lorentz levitation can greatly augment the accuracy and dexterity of robots because they are frictionless, have high bandwidths and have a single back drivable moving part. Also, since there is no contact between the moving and stationary parts, wear and contamination can be eliminated. The use of six Lorentz force actuators in combination with real time position and orientation sensing offers several important advantages over magnetic bearing approaches.

Hollis, R. L.↗

Lunar vehicle assembly and processing on Space Station Freedom

A concept is proposed that permits the accommodation of lunar vehicles on Space Station Freedom (SSF) within the context of the Human Exploration Initiative. The facility required for lunar-vehicle processing is defined with references to the types of support equipment assumed for these tasks. Attention is given to the SSF Assembly Complete, verification of the Lunar Transfer Vehicles (LTVs), and the attachments of reusable vs expendable LTVs. The impact of the assembly and processing operations is delineated with specific qualifications for revising the allowances for vehicle mass and controllability, reboost fuel needs, microgravity activities, and flight attitude. EVA working time is estimated for overhead and truss-assembly operations at about 3 months to support reusable LTV operations on the SSF. An Assembly/Servicing Facility is proposed for these activities with specific hardware options, and a hydrogen-oxygen propulsion system is proposed to make these activities more efficient.

Troutman, Patrick A.↗