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At least 1,189 records · Page 66
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Analysis and design of a six-degree-of-freedom Stewart platform-based robotic wrist

The kinematic analysis and implementation of a six degree of freedom robotic wrist which is mounted to a general open-kinetic chain manipulator to serve as a restbed for studying precision robotic assembly in space is discussed. The wrist design is based on the Stewart Platform mechanism and consists mainly of two platforms and six linear actuators driven by DC motors. Position feedback is achieved by linear displacement transducers mounted along the actuators and force feedback is obtained by a 6 degree of freedom force sensor mounted between the gripper and the payload platform. The robot wrist inverse kinematics which computes the required actuator lengths corresponding to Cartesian variables has a closed-form solution. The forward kinematics is solved iteratively using the Newton-Ralphson method which simultaneously provides a modified Jacobian Matrix which relates length velocities to Cartesian translational velocities and time rates of change of roll-pitch-yaw angles. Results of computer simulation conducted to evaluate the efficiency of the forward kinematics and Modified Jacobian Matrix are discussed.

Nguyen, Charles C.↗
NASA NTRS1990

Compliant joint

A compliant joint is provided for prosthetic and robotic devices which permits rotation in three different planes. The joint provides for the controlled use of cable under motion. Perpendicular outer mounting frames are joined by swaged cables that interlock at a center block. Ball bearings allow for the free rotation of the second mounting frame relative to the first mounting frame within a predetermined angular rotation that is controlled by two stop devices. The cables allow for compliance at the stops and the cables allow for compliance in six degrees of freedom enabling the duplication or simulation of the rotational movement and flexibility of a natural hip or knee joint, as well as the simulation of a joint designed for a specific robotic component for predetermined design parameters.

Eklund, Wayne D.↗
NASA NTRS1991

Bidirectional drive and brake mechanism

A space transport vehicle is disclosed as including a body which is arranged to be movably mounted on an elongated guide member disposed in outer space and driven therealong. A drive wheel is mounted on a drive shaft and arranged to be positioned in rolling engagement with the elongated guide carrying the vehicle. A brake member is arranged on the drive shaft for movement into and out of engagement with an adjacent surface of the drive wheel. An actuator is mounted on the body to be manually moved back and forth between spaced positions in an arc of movement. A ratchet-and-pawl mechanism is arranged to operate upon movements of the actuator in one direction between first and second positions for coupling the actuator to the drive wheel to incrementally rotate the wheel in one rotational direction and to operate upon movements of the actuator in the opposite direction for uncoupling the actuator from the wheel. The brake member is threadedly coupled to the drive shaft in order that the brake member will be operated only when the actuator is moved on beyond its first and second positions for shifting the brake member along the drive shaft and into frictional engagement with the adjacent surface on the drive wheel.

Swan, Scott A.↗
NASA NTRS1991

ATLS: Catheter and tube placement

The specific objectives of this experiment are: to evaluate the rack mounted equipment and medical supplies necessary for medical procedures; to evaluate the attachments, mounting points, and inner drawer assemblies for the medical supplies; and to evaluate the procedures for performing medical scenarios. The resources available in the HMF miniracks to accomplish medical scenarios and/or procedures include: medical equipment mounted in the racks; a patch panel with places to attach tubing and catheters; self contained drawers full of critical care medical supplies; and an ALS 'backpack' for deploying supplies. The attachment lines, tubing and associated medical supplies will be deployed and used with the equipment and a patient mannequin. Data collection is provided by direct observations by the inflight experimenters, and analysis of still and video photography.

Gosbee, John↗
NASA NTRS1990

The radiation pattern of a monopole antenna attached to a conducting box

A system investigation was undertaken to determine the radiation patterns of a monopole antenna mounted on a cubical conducting box over a ground plane. The effects of the location of the monopole and the electrical size of the box were compared with similar patterns measured over a flat ground plane and with numerically predicted values obtained from a method-of-moments patch code. It was concluded that the location at which a monopole antenna is mounted on a conducting box and the electrical size of the box clearly affect the overall radiation pattern of a monopole antenna. In general, mounting the antenna away from the center of the box will increase the depth of the nulls. In particular, planes will also increase the maximum E(phi) component of the field to the extent that it can become comparable to E(theta).

Chu, Andrew W. C.↗
NASA NTRS1990

Helicopter in-flight stores jettison

A helicopter emergency external-stores jettison system accommodating an experimental simplified mounting system is presented. The system's conceptual approach is described, including store interface, attachment, functional mechanisms, and system initiation. It is novel both in the stores' mounting interface logic and in the modifications to existing technology for the components. Two nonfragmenting 'ridge cut' explosive bolts were mounted in each 600-pound store to interface with a simple plate on the aircraft. Starting designs with proven technology and functional margins were demonstrated by analysis and test through the design and development. Design details of the system's components, from the explosive bolt to the initiation handle, are described.

Bement, Laurence J.↗
NASA NTRS1992

High-Precision Coupling Mechanism Operable By Robots

Coupling mechanism has features making it easily operable by hand and suitable for operation by robots: tolerates some initial misalignment, imposes precise final alignment, and protects itself against overtightening. Typically used to mount equipment module on structure. Mechanism includes kinematic mounts, which tolerate small initial misalignment and enforce precise final alignment as two assemblies brought together. Clamping force applied to kinematic mounts via two flexible plates. Bolt and nut tightened on flexible plates to impose spring clamping load. Repeatability of interface tested and found to be better than forty-millionths of inch.

Voellmer, George↗
NASA NTRS1991

Dual strain gage balance system for measuring light loads

A dual strain gage balance system for measuring normal and axial forces and pitching moment of a metric airfoil model imparted by aerodynamic loads applied to the airfoil model during wind tunnel testing includes a pair of non-metric panels being rigidly connected to and extending towards each other from opposite sides of the wind tunnel, and a pair of strain gage balances, each connected to one of the non-metric panels and to one of the opposite ends of the metric airfoil model for mounting the metric airfoil model between the pair of non-metric panels. Each strain gage balance has a first measuring section for mounting a first strain gage bridge for measuring normal force and pitching moment and a second measuring section for mounting a second strain gage bridge for measuring axial force.

Roberts, Paul W.↗
NASA NTRS1991

Thermal design and test results for SUNLITE ultra-stable reference cavity

SUNLITE (Stanford University-NASA Laser In-Space Technology Experiment) is a space-based experiment which uses a reference cavity to provide a stable frequency reference for a terahertz laser oscillator. Thermal stability of the cavity is a key factor in attaining a stable narrow-linewidth laser beam. The mount which is used to support and align the cavity will provide thermal isolation from the environment. The baseline requirement for thermal stability of the cavity is 0.025 C/min, but the design is directed toward achieving stability well beyond this requirement to improve the science data gained. A prototype of the cavity mount was fabricated and tested to characterize the thermal performance. The thermal vacuum test involved stable high-resolution temperature measurements and stable baseplate temperature control over long durations. Based on test data, the cavity mount design satisfies the severe requirement for the cavity thermal stability.

Amundsen, Ruth M.↗
NASA NTRS1991

An evaluation of strain measuring devices for ceramic composites

A series of tensile tests was conducted on SiC/reaction bonded silicon nitrides (RBSN) composites using different methods of strain measurement. The tests were used to find the optimum strain sensing device for use with continuous fiber reinforced ceramic matrix composites in ambient and high temperature environments. Bonded resistance gages were found to offer excellent performance for room temperature tests. The clip-on gage offers the same performance, but less time is required for mounting it to the specimen. Low contact force extensometers track the strain with acceptable results at high specimen temperatures. Silicon carbide rods with knife edges are preferred. The edges must be kept sharp. The strain measuring devices should be mounted on the flat side of the specimen. This is in contrast to mounting on the rough thickness side.

Gyekenyesi, John Z.↗
NASA NTRS1992

Water window imaging x ray microscope

A high resolution x ray microscope for imaging microscopic structures within biological specimens has an optical system including a highly polished primary and secondary mirror coated with identical multilayer coatings, the mirrors acting at normal incidence. The coatings have a high reflectivity in the narrow wave bandpass between 23.3 and 43.7 angstroms and have low reflectivity outside of this range. The primary mirror has a spherical concave surface and the secondary mirror has a spherical convex surface. The radii of the mirrors are concentric about a common center of curvature on the optical axis of the microscope extending from the object focal plane to the image focal plane. The primary mirror has an annular configuration with a central aperture and the secondary mirror is positioned between the primary mirror and the center of curvature for reflecting radiation through the aperture to a detector. An x ray filter is mounted at the stage end of the microscope, and film sensitive to x rays in the desired band width is mounted in a camera at the image plane of the optical system. The microscope is mounted within a vacuum chamber for minimizing the absorption of x rays in air from a source through the microscope.

Hoover, Richard B.↗
NASA NTRS1992

Low-cost, high-resolution, single-structure array telescopes for imaging of low-earth-orbit satellites

Telescopes that are designed for the unconventional imaging of near-earth satellites must follow unique design rules. The costs must be reduced substantially over those of the conventional telescope designs, and the design must accommodate a technique to circumvent atmospheric distortion of the image. Apertures of 12 m and more along with altitude-altitude mounts that provide high tracking rates are required. A novel design for such a telescope, optimized for speckle imaging, has been generated. Its mount closely resembles a radar mount, and it does not use the conventional dome. Costs for this design are projected to be considerably lower than those for the conventional designs. Results of a design study are presented with details of the electro-optical and optical designs.

Massie, N. A.↗
NASA NTRS1992

An evaluation of strain measuring devices for ceramic composites

A series of tensile tests were conducted on SiC/RBSN composites using different methods of strain measurement. The tests were used to find the optimum strain sensing device for use with continuous fiber reinforced ceramic matrix composites in ambient and high temperature environments. Bonded resistance strain gages were found to offer excellent performance for room temperature tests. The clip-on gage offers the same performance but significantly less time is required for mounting it to the specimen. Low contact force extensometers track the strain with acceptable results at high specimen temperatures. Silicon carbide rods with knife edges are preferred. The edges must be kept sharp. The strain measuring devices should be mounted on the flat side of the specimen. This is in contrast to mounting on the rough thickness side.

Gyekenyesi, John Z.↗
NASA NTRS1993

Scanning Tunneling Microscope For Use In Vacuum

Scanning tunneling microscope with subangstrom resolution developed to study surface structures. Although instrument used in air, designed especially for use in vacuum. Scanning head is assembly of small, mostly rigid components made of low-outgassing materials. Includes coarse-positioning mechanical-translation stage, on which specimen mounted by use of standard mounting stub. Tunneling tip mounted on piezoelectric fine-positioning tube. Application of suitable voltages to electrodes on piezoelectric tube controls scan of tunneling tip across surface of specimen. Electronic subsystem generates scanning voltages and collects data.

Abel, Phillip B.↗
NASA NTRS1993

Clinostat Delivers Power To Plant-Growth Cabinets

Clinostat rotates coaxial pair of plant-growth cabinets about horizontal axis while supplying cabinets with electric power for built-in computers, lamps, fans, and auxiliary equipment, such as nutrient pumps. Each cabinet self-contained unit for growing plants in controlled environment. By rotating cabinets and contents about horizontal axis, scientists simulate and study some of effects of microgravity on growth of plants. Clinostat includes vertical aluminum mounting bracket on horizontal aluminum base. Bearings on bracket hold shaft with V-belt pulley. At each end of shaft, circular plate holds frame mount for cabinet. Mounting plates also used to hold transparent sealed growth chambers described in article, "Sealed Plant-Growth Chamber For Clinostat" (KSC-11538).

Bushong, Wilton E.↗
NASA NTRS1992

Recession of FEP specimens from trays D11 and B7

We report work done at Boeing Defense and Space Group on analysis of silvered teflon specimens taken from selected locations of the Long Duration Exposure Facility under support from a contract provided by NASA LaRC. The samples discussed in this presentation were taken from the unexposed side of D11 and extended through the folded area of this blanket into the exposed area. Two similar areas were cut from blanket B7, one from the edge of the blanket near row six and one from the edge of the blanket near row eight and within a few centimeters of the copper grounding strap for B7. The specimens were each divided into three sections by cutting with a scapel. Two of the sections were mounted in a potting compound, which was cut and polished such that the cross-sectional thickness of each was exposed. One piece was mounted straight and the other was mounted in an attempt to configure the specimens such that it was bent with a radius of curvature similar to the on-orbit configuration. The third portion of each specimen was used for SEM images to help define the angle of exposure with respect to the ram at each location on the specimen. Photomicrographs were taken in cross section from the edge of the blanket through the curved transition region into the exposed area of the blanket. The thickness of the Fluorinated Ethylene Propylene (FEP) layer was determined at known distances from the edge of the blanket. SEM images were obtained at known distances to help define the angle with respect to ram and therefore establish the atomic oxygen fluence on each location and correlate this exposure with thickness. Thickness measurements made with a two to three centimeter distance minimized the uncertainty arising from variations in the as-manufactured thickness of each blanket. The nominal angle from ram of the exposed portion of each blanket, and the fact that the unexposed edge portions are approximately at right angles to the exposed portion were also used to help define the angles. Thickness measurements were taken at specified locations. An average thickness for the unexposed portion of the blanket was determined. Changes in thickness were then determined by difference.

Pippin, H. Gary↗
NASA NTRS1990

The neurochemical and neuropharmacological basis of motion sickness

An apparatus suitable for producing motion sickness in laboratory animals and constructed at the university is herein described. The apparatus is a modified version of that previously described by Fox and Daunton. It consists of a 66-inch steel arm anchored at the center to a wooden platform and attached to a motor that makes the arm move in a see-saw fashion. At each end of the steel arm is mounted an aluminum disc that can be rotated by a motorized device. Detachable cages are mounted on each disc for animal holding. The animal can then be exposed to rotational motion by rotation of the aluminum disc, or to see-saw motion simultaneously (Cross-coupled). The apparatus is presently being used in our laboratory to study the neuropharmacological basis of motion sickness in the rat. The device can be adapted for use with other animal species by modifying the cage mounted on the aluminum discs.

Walker, C. A.↗
NASA NTRS1993

High performance sapphire windows

High-quality, wide-aperture optical access is usually required for the advanced laser diagnostics that can now make a wide variety of non-intrusive measurements of combustion processes. Specially processed and mounted sapphire windows are proposed to provide this optical access to extreme environment. Through surface treatments and proper thermal stress design, single crystal sapphire can be a mechanically equivalent replacement for high strength steel. A prototype sapphire window and mounting system have been developed in a successful NASA SBIR Phase 1 project. A large and reliable increase in sapphire design strength (as much as 10x) has been achieved, and the initial specifications necessary for these gains have been defined. Failure testing of small windows has conclusively demonstrated the increased sapphire strength, indicating that a nearly flawless surface polish is the primary cause of strengthening, while an unusual mounting arrangement also significantly contributes to a larger effective strength. Phase 2 work will complete specification and demonstration of these windows, and will fabricate a set for use at NASA. The enhanced capabilities of these high performance sapphire windows will lead to many diagnostic capabilities not previously possible, as well as new applications for sapphire.

Bates, Stephen C.↗