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Mechanical linkage allows adjacent parts to move relative to each other with low friction and with no chatter, slipping, or backlash. Low-friction joint of two surfaces in rolling contact, held in alinement by taut flexible bands. No sliding friction or "stick-slip" motion: Only rolling-contact and bending friction within bands. Proposed linkage intended for finger joints in mechanical hands for robots and manipulators.
Centering valve allows use of mechanical override in autopilot mode. Alternate system designed incorporates centering valves into four FBW servos, providing detents for reacting mechanical system forces following FBW shutdown. Required linkage hard point incorporated directly into autopilot servoactuator by centering valve assembly shown. All components in this functional hydraulic schematic usually present in contemporary aircraft flight-control-system autopilot servoactuators, with exception of centering valve. Centering valve, which serves as hard-point linkage for mechanical system forces, incorporated directly into flight control system.
Subjects were required to discover the structure of a logical network whose links were invisible. Network structure had to be inferred from the behavior of the components after a failure. It was hypothesized that since such failure diagnosis tasks often draw on spatial processes, a good deal of spatial complexity in the network should affect network discovery. Results show that the ability to discover the linkages in the network is directly related to the spatial complexity of the pathway described by the linkages. This effect was generally independent of the amount of evidence available to subjects about the existence of the link. These results raise the question of whether inferences about spatially complex pathways were simply not made, or whether they were made but not retained because of a high load on memory resources.
The orbiter elevon seal panel mechanism controls the position of fairing panels between the orbiter wing and elevon. Early mechanism designs used linkages which approximately matched the panel motion to elevon position, depending on panel deflections to maintain sealing. These linkages were refined during orbiter development to match panel motion to elevon motion more exactly, thus reducing panel deflections, loads, and weight. Changes to the adjacent cove seal resulted in the use of curved tension compression links. Mechanism temperatures up to 750 F (locally) posed difficulties in bearing lubrication. Despite the adverse effect of the many fabrication tolerances, the system successfully prevented the entry of 1200 F hot gases into the wing/elevon joint.
Two similar polyimide systems were synthesized and characterized. The only structural difference was a sulfide linkage in the anhydride-derived portion of the first system vs. a sulfone linkage in the second. Their physical, mechanical, melt-flow and thermal properties, and their resistance to some of the more common solvents were determined. The flow properties of these polyimides indicate a potential for melt processability.
Parallelogram linkage ensures greater accuracy in drafting and scribing. Two members of arm of compass remain parallel for all angles pair makes with hub axis. They maintain opposing end members in parallelism. Parallelogram-linkage principle used on dividers as well as on compasses.
TRW is in the process of data accumulation that strongly indicates that incorporation of the perfluorsisopropylidene linkage in molecular structures other than those employed in DU Pont's NR-150B polyimides likewise yield polymers demonstrating extremely high thermo-oxidative stability. Polyimide synthetic and characterization studies conducted to date on new polymers incorporating the perfluoroisopropylidene linkage are presented and discussed.
The presence of a hexafluoroisopropylidene (6F) connecting group in aryl dianhydrides used to prepare aromatic condensation polyimides provides high glass transition temperature (T sub g) polyimides with excellent thermo-oxidative stability. The purpose of this study was to determine if a trifluorophenyl-ethylidene (3F) connecting group would have a similar effect on the T sub g of aromatic condensation polyimides. A new dianhydride containing the 3F connecting group was synthesized. This dianhydride and an aromatic diamine also containing the 3F connecting group were used together and in various combinations with known diamines or known dianhydrides, respectively, to prepare new 3F containing condensation polyimides. Known polyimides, including some with the 6F connecting linkage, were also prepared for comparison purposes. The new 3F containing polymers and the comparison polymers were prepared by condensation polymerization via the traditional amic-acid polymerization method in N,N-dimethylacetamide solvent. The solutions were characterized by determining their inherent viscosities and then were thermally converted into polyimide films under nitrogen atmosphere at 300 to 500 C, usually 350 C. The T sub g's of the films and resin discs were then determined by thermomechanical analysis and were correlated as a function of the final processing temperatures of the films and resin discs. The results showed that similarities existed in the T sub g's depending on the nature of the connecting linkage in the monomers used to prepare the condensation polyimides.
Nine new condensation polyimides containing the trifluorophenylethylidene linkage were synthesized by the amic-acid route. Several other polyimides, including some with the hexafluoroisopropylidene linkage, were also prepared as controls. Amic-acid solutions were characterized by determining their inherent viscosities prior to thermal conversion into polyimide films. Glass transition temperatures (T sug g), thermogravimetric analysis (TGA), and isothermal weight loss data were obtained for the films. The films were pulverized into molding powders which, in turn, were thermally processed under pressure into neat resin discs. The discs were also characterized by T sub gs and 316 C and 371 C isothermal weight losses. The film study identified two new polyimides with T sub gs greater that 371 C and two new polyimides with low rates of weight loss. The resin discs exhibited the same overall trends in T sub g and weight loss as the respective films, however the weight loss per unit surface area was always greater, presumably due to voids or to mechanical degradation induced during preparation of the molding powders.
BDSDA/APB, a novel linear polyethersulfideimide, was synthesized using siloxane units as flexible linkages in the backbone in an attempt to improve use properties and processability. The effect of these flexible linkages on molecular weight buildup, flexural strength and modulus, glass transition temperature, and melt-flow properties was determined.
Initial experiments on state-space feedback control of a large flexible manipulator with a parallel linkage drive are described. A linear controller using joint angle and strain measurements has been designed to minimize a quadratic performance index with a prescribed stability margin. It is based on a simplified model that accounts for the constraints of the parallel linkage kinematically rather than through constraint forces. The results show substantial improvement over a simple proportional-derivative joint control.
A skin friction balance uses a parallel linkage mechanism to avoid inaccuracies in skin friction measurement attributable to off-center normal forces. The parallel linkage mechanism includes a stationary plate mounted in a cage, and an upper and lower movable plate which are linked to each other and to the stationary plate throught three vertical links. Flexure pivots are provided for pivotally connecting the links and the plates. A sensing element connected to the upper plate moves in response to skin friction, and the lower plate moves in the opposite direction of the upper plate. A force motor maintains a null position of the sensing element by exerting a restoring force in response to a signal generated by a linear variable differential transformer (LVDT).
The invention provides a rough terrain vehicle which maintains a substantially constant weight, and therefore traction, on all wheels, despite one wheel moving considerably higher or lower than the others, while avoiding a very soft spring suspension. The vehicle includes a chassis or body to be supported and a pair of side suspensions at either side of the body. In a six wheel vehicle, each side suspension includes a middle wheel, and front and rear linkages respectively coupling the front and rear wheels to the middle wheel. A body link pivotally connects the front and rear linkages together, with the middle of the body link rising or falling by only a fraction of the rise or fall of any of the three wheels. The body link pivotally supports the middle of the length of the body. A transverse suspension for suspending the end of the body on the side suspensions includes a middle part pivotally connected to the body about a longitudinal axis and opposite ends each pivotally connected to one of the side suspensions along at least a longitudinal axis.
The Skitter 2 is a three legged transport vehicle designed to demonstrate the principle of a tripod walker in a multitude of environments. The tubular truss model of Skitter 2 is a proof of principal design. The model will replicate the operational capabilities of Skitter 2 including its ability to self-right itself. The project's focus was on the use of light weight tubular members in the final structural design. A strong design for the body was required as it will undergo the most intense loading. Triangular geometry was used extensively in the body, providing the required structural integrity and eliminating the need for cumbersome shear panels. Both the basic femur and tibia designs also relied on the strong geometry of the triangle. An intense literature search aided in the development of the most suitable weld techniques, joints, linkages, and materials required for a durable design. The hinge design features the use of spherical rod end bearings. In order to obtain a greater range of mobility in the tibia, a four-bar linkage was designed which attaches both to the femur and the tibia. All component designs, specifically the body, femur, and the tibia were optimized using the software package IDEAS 3.8A Supertab. The package provided essential deformation and stress analysis information on each component's design. The final structure incurred only a 0.0544 inch deflection in a maximum (worst case) loading situation. The highest stress experienced by any AL6061-T6 tubular member was 1920 psi. The structural integrity of the final design facilitated the use of Aluminum 6061-T6 tubing. The tubular truss structure of Skitter 2 is an effective and highly durable design. All facets of the design are structurally sound and cost effective.
The problem of retrieving and storing core samples from a hole drilled on the lunar surface is addressed. The total depth of the hole in question is 50 meters with a maximum diameter of 100 millimeters. The core sample itself has a diameter of 60 millimeters and will be two meters in length. It is therefore necessary to retrieve and store 25 core samples per hole. The design utilizes a control system that will stop the mechanism at a certain depth, a cam-linkage system that will fracture the core, and a storage system that will save and catalogue the cores to be extracted. The Rod Changer and Storage Design Group will provide the necessary tooling to get into the hole as well as to the core. The mechanical design for the cam-linkage system as well as the conceptual design of the storage device are described.
The design of a Lunar Bulk Material Transport Vehicle (LBMTV) is discussed. Goals set in the project include a payload of 50 cubic feet of lunar soil with a lunar of approximately 800 moon-pounds, a speed of 15 mph, and the ability to handle a grade of 20 percent. Thermal control, an articulated steering mechanism, a dump mechanism, a self-righting mechanism, viable power sources, and a probable control panel are analyzed. The thermal control system involves the use of small strip heaters to heat the housing of electronic equipment in the absence of sufficient solar radiation and multi-layer insulation during periods of intense solar radiation. The entire system uses only 10 W and weighs about 60 pounds, or 10 moon-pounds. The steering mechanism is an articulated steering joint at the center of the vehicle. It utilizes two actuators and yields a turning radius of 10.3 feet. The dump mechanism rotates the bulk material container through an angle of 100 degree using one actuator. The self-righting mechanism consists of two four bar linkages, each of which is powered by the same size actuator as the other linkages. The LBMTV is powered by rechargeable batteries. A running time of at least two hours is attained under a worst case analysis. The weight of the batteries is 100 pounds. A control panel consisting of feedback and control instruments is described. The panel includes all critical information necessary to control the vehicle remotely. The LBMTV is capable of handling many types of cargo. It is able to interface with many types of removable bulk material containers. These containers are made to interface with the three-legged walker, SKITTER. The overall vehicle is about 15 feet in length and has a weight of about 1000 pounds, or 170 lunar pounds.
Genetic algorithms (GAs) are finding increased application in difficult search, optimization, and machine learning problems in science and engineering. Increasing demands are being placed on algorithm performance, and the remaining challenges of genetic algorithm theory and practice are becoming increasingly unavoidable. Perhaps the most difficult of these challenges is the so-called linkage problem. Messy GAs were created to overcome the linkage problem of simple genetic algorithms by combining variable-length strings, gene expression, messy operators, and a nonhomogeneous phasing of evolutionary processing. Results on a number of difficult deceptive test functions are encouraging with the mGA always finding global optima in a polynomial number of function evaluations. Theoretical and empirical studies are continuing, and a first version of a messy GA is ready for testing by others. A Common LISP implementation called mGA1.0 is documented and related to the basic principles and operators developed by Goldberg et. al. (1989, 1990). Although the code was prepared with care, it is not a general-purpose code, only a research version. Important data structures and global variations are described. Thereafter brief function descriptions are given, and sample input data are presented together with sample program output. A source listing with comments is also included.
Mechanical device eliminates need for redundant fly-by-wire subsystems. Main components are two linkages. One connected to control column in conventional, reversible control system. Other slides inside first linkage and connected to pilot's control wheel. In addition to aircraft applications, design used in control systems in which computer control desirable but safety backup systems required; for example, in boat rudders, engine controls in boats and automobiles, and controls in construction equipment.