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At least 1,657 records · Page 92

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NASA NTRS1988

Dynamic task distribution for multiple cooperating robot manipulators

The issue of distributing the task among multiple robot arms while considering the manipulator dynamics is considered. The forces and moments required to move an object are distributed in such a way that extra degrees of freedom within the system may be used to satisfy or optimize criteria related to the manipulator dynamics. A method to perform such subtasks is introduced, and examples of possible criteria noted. It is expected that such techniques will produce trajectories which will be more desirable for the individual arms dynamically, since the dynamics are considered in the task distribution.

Walker, Ian D.↗

NASA NTRS1988

Experimental studies in system identification of helicopter rotor dynamics

Recent experiments investigating the system identification of helicopter rotor dynamics are described. The identification makes use of a two-pass procedure that estimates the rotor dynamic states prior to estimation of the dynamic equation parameters. Estimation of the rotor states is made possible through use of the predictive information contained in blade-mounted accelerometers combined with a specialized processing scheme utilizing these signals. Descriptions of the experimental hardware and the system identification technique are given, as well as implementation issues for using the procedure on other similarly instrumented rotor blades. Finally, comparisons with other identification techniques using the same data are presented. It is demonstrated that the approach is an attractive one for measurement of a helicopter rotor's dynamic behavior.

Mckillip, Robert, Jr.↗

NASA NTRS1989

Collisional and inertial dynamics of the ionospheric interchange instability

The dynamical properties and spectral characteristics of the ionospheric interchange instability in the collisional and inertial regimes are investigated numerically and analytically, using a two-dimensional fluid model. This model, which describes the collisional and inertial dynamics of the F region ionosphere, is similar to the models of Ott (1978) and Kintner and Seyler (1985). By numerically integrating the model equations, the nonlinear evolution of three interchange unstable configurations in the collisional and inertial regimes are followed, and their dynamical and spectral properties are studied. The solutions indicate that the dynamical properties of a collision-dominated regime are distinctly different from those of an inertia-dominated regime. The qualitative characteristics of a plasma bubble in both regime-types are described.

Zargham, S.↗

NASA NTRS1989

A general dynamic model of flexible robot arms for control

Hamilton's principle is used to derive the dynamic model for a large class of flexible robot arms. The resultant dynamic model consists of a system of partial differential-integral equations and the dynamic boundary conditions associated with it. Some properties of the model are observed, and its application to control is discussed. This model represents an infinite-dimensional nonlinear dynamic system and yet can be turned into a finite-dimensional system that could be obtained by modal expansion, if it is desired. This provides more flexibility for control purposes as well as for the analysis of the system.

Ding, X.↗

NASA NTRS1990

Dynamic substructuring by the boundary flexibility vector method of component mode synthesis

Component mode synthesis (CMS) is a method of dynamic analysis, for structures having a large number of degrees of freedom (DOF). These structures often required lengthy computer CPU time and large computer memory resources, if solved directly by the finite-element method (FEM). In CMS, the structure is divided into independent components in which the DOF are defined by a set of generalized coordinates defined by displacement shapes. The number of the generalized coordinates are much less than the original number of physical DOF, in the component. The displacement shapes are used to transform the component property matrices and any applied external loads, to a reduced system of coordinates. Reduced system property matrices are assembled, and any type of dynamic analysis is carried out in the reduced coordinate system. Any obtained results are back transformed to the original component coordinate systems. In all conventional methods of CMS, the mode shapes used for components are dynamic mode shapes, supplemented by static deflected shapes. Historically, all the dynamic mode shapes used in conventional CMS are the natural modes (eigenvectors) of components. A new method of CMS, namely the boundary flexibility vector method of CMS, is presented. The method provides for the incorporation of a set of static Ritz vectors, referred to as boundary flexibility vectors, as a replacement and/or supplement to conventional eigenvectors, as displacement shapes for components. The generation of these vectors does not require the solution of a costly eigenvalue problem, as in the case of natural modes in conventional CMS, and hence a substantial saving in CPU time can be achieved. The boundary flexibility vectors are generated from flexibility (or stiffness) properties of components. The formulation presented is for both free and fixed-interface components, and for both the free and forced vibration problems. Free and forced vibration numerical examples are presented to verify the accuracy of the method and the saving in CPU time. Compared to conventional methods of CMS, the results indicate that by using the new method, more accurate results can be obtained with a substantial saving in CPU time.

Abdallah, Ayman Ahmed↗

NASA NTRS1989

Spatial operator algebra framework for multibody system dynamics

The Spatial Operator Algebra framework for the dynamics of general multibody systems is described. The use of a spatial operator-based methodology permits the formulation of the dynamical equations of motion of multibody systems in a concise and systematic way. The dynamical equations of progressively more complex grid multibody systems are developed in an evolutionary manner beginning with a serial chain system, followed by a tree topology system and finally, systems with arbitrary closed loops. Operator factorizations and identities are used to develop novel recursive algorithms for the forward dynamics of systems with closed loops. Extensions required to deal with flexible elements are also discussed.

Rodriguez, G.↗

NASA NTRS1989

Development of efficient computer program for dynamic simulation of telerobotic manipulation

Research in robot control has generated interest in computationally efficient forms of dynamic equations for multi-body systems. For a simply connected open-loop linkage, dynamic equations arranged in recursive form were found to be particularly efficient. A general computer program capable of simulating an open-loop manipulator with arbitrary number of links has been developed based on an efficient recursive form of Kane's dynamic equations. Also included in the program is some of the important dynamics of the joint drive system, i.e., the rotational effect of the motor rotors. Further efficiency is achieved by the use of symbolic manipulation program to generate the FORTRAN simulation program tailored for a specific manipulator based on the parameter values given. The formulations and the validation of the program are described, and some results are shown.

Chen, J.↗

NASA NTRS1989

Explicit modeling of composite plates and beams in the dynamics of multibody systems

The state of the art dynamic response analysis of flexible multibody systems is currently restricted to elastic bodies with homogeneous materials. The requirements for high speed operation has made it necessary to use lightweight multi layered composite bodies in robotic systems and space structure applications. Dynamic modeling and analysis of such systems are particularly important since the effects of body flexibility to the performance are likely to be more pronounced. The eight-noded isoperimetric quadrilateral element with independent rotational and displacement degrees of freedom is extended to laminated composite elements. The element includes an arbitrary number of bonded layers, each of which may have a different thickness. The transverse shear deformation which is a predominant factor in the analysis of laminated composite structures is taken into account in developing the stiffness and mass matrices. The corresponding 3-D mode shapes are then incorporated to the multibody system dynamical equations. Floating body reference frames allow the selection of different boundary conditions, and the dynamical equations contain all the nonlinear interactions between the rigid and elastic motion. Example simulations are presented to illustrate the methods proposed.

Amirouche, F. M. L.↗

NASA NTRS1989

On trajectory generation for flexible space crane: Inverse dynamics analysis by LATDYN

For future in-space construction facility, one or more space cranes capable of manipulating and positioning large and massive spacecraft components will be needed. Inverse dynamics was extensively studied as a basis for trajectory generation and control of robot manipulators. The focus here is on trajectory generation in the gross-motion phase of space crane operation. Inverse dynamics of the flexible crane body is much more complex and intricate as compared with rigid robot link. To model and solve the space crane's inverse dynamics problem, LATDYN program which employs a three-dimensional finite element formulation for the multibody truss-type structures will be used. The formulation is oriented toward a joint dominated structure which is suitable for the proposed space crane concept. To track a planned trajectory, procedures will be developed to obtain the actuation profile and dynamics envelope which are pertinent to the design and performance requirements of the space crane concept.

Chen, G.-S.↗

NASA NTRS1990

Non-linear dynamic analysis of geared systems, part 2

A good understanding of the steady state dynamic behavior of a geared system is required in order to design reliable and quiet transmissions. This study focuses on a system containing a spur gear pair with backlash and periodically time-varying mesh stiffness, and rolling element bearings with clearance type non-linearities. A dynamic finite element model of the linear time-invariant (LTI) system is developed. Effects of several system parameters, such as torsional and transverse flexibilities of the shafts and prime mover/load inertias, on free and force vibration characteristics are investigated. Several reduced order LTI models are developed and validated by comparing their eigen solution with the finite element model results. Several key system parameters such as mean load and damping ratio are identified and their effects on the non-linear frequency response are evaluated quantitatively. Other fundamental issues such as the dynamic coupling between non-linear modes, dynamic interactions between component non-linearities and time-varying mesh stiffness, and the existence of subharmonic and chaotic solutions including routes to chaos have also been examined in depth.

Singh, Rajendra↗

NASA NTRS1990

Robust controller designs for second-order dynamic system: A virtual passive approach

A robust controller design is presented for second-order dynamic systems. The controller is model-independent and itself is a virtual second-order dynamic system. Conditions on actuator and sensor placements are identified for controller designs that guarantee overall closed-loop stability. The dynamic controller can be viewed as a virtual passive damping system that serves to stabilize the actual dynamic system. The control gains are interpreted as virtual mass, spring, and dashpot elements that play the same roles as actual physical elements in stability analysis. Position, velocity, and acceleration feedback are considered. Simple examples are provided to illustrate the physical meaning of this controller design.

Juang, Jer-Nan↗

NASA NTRS1989

Experimental and computational studies of dynamic stall

A review of dynamic stall research in progress under the Navy-NASA Joint Institute of Aeronautics is presented. This effort, which includes both experimental and computational studies of the dynamic stall process, is directed toward better understanding and modeling of the fluid flow that occurs on helicopters and aircraft flying in conditions that induce dynamic stall. The results of research now in progress are presented, with discussion of the experimental program on compressibility effects on dynamic stall, related CFD studies of the stall process based on Navier-Stokes modeling, and viscous-inviscid flow modeling of the incipient stall process.

Carr, L. W.↗

NASA NTRS1989

Dynamic loading of spur gears with linear or parabolic tooth profile modifications

A computer simulation was conducted to investigate the effects of both linear and parabolic tooth profile modification on the dynamic response of low-contact-ratio spur gears. The effect of the total amount of modification and the length of the modification zone were studied at various loads and speeds to find the optimal profile modification for minimal dynamic loading. Design charts consisting of normalized maximum dynamic load curves were generated for gear systems operated at various loads and with different tooth profile modification. An optimum profile modification can be determined from these design charts to minimize the dynamic loads of spur gear systems.

Lin, H. H.↗

NASA NTRS1989

Dynamic crack arrest in ceramics and ceramic composites

The results of past dynamic crack arrest experiments involving structural ceramics and ceramic composites are reviewed and analyzed. The lack of dynamic crack arrest in very brittle materials is discussed and contrasted with dynamic crack arrest in somewhat brittle metallic and polymeric materials. Numerical analyses show that the lack of crack arrest is due to reduced dynamic fracture resistance of the material and is not due to the kinetic energy.

Kobayashi, A. S.↗

NASA NTRS1989

Effects of loading rate and temperature on dynamic fracture of ceramic matrix composites

A hybrid experimental-numerical procedure was used to determine the dynamic fracture initiation toughnesses and the dynamic stress intensity factors of alumina, TiB2-particulate/SiC-matrix, and SiC(w)/Al2O3-matrix composites at room and elevated temperatures under static and impact loadings. The dynamic fracture initiation toughnesses at room and elevated temperatures were greater than the corresponding static fracture toughness. The crack velocity versus the dynamic stress intensity factor relations showed minor differences due to temperature changes but significant differences due to the change in loading rates.

Yang, K. H.↗

NASA NTRS1990

Convective dynamics

In addressing meteorological processes, including convection, it is convenient to separate these processes into their kinematic, dynamic, and microphysical components. Dynamic processes deal with the forces that initiate and sustain or alter motion, while kinematic processes describe the motion field. Microphysical processes address the distribution of water substance. This review of convective dynamics is organized along the following lines. First is an assessment of radar capability, particularly the use of one or more Doppler radars, to portray the wind field. Then various types of precipitating moist convection are reviewed. Each type or mode of convection results from a distinct environment. The principal interest of dynamics here is its role in the convection's evolution, structure, and movement. Thus, the important processes of storm rotation, splitting and propagation, including tornadogenesis, are examined.

Ray, Peter S.↗

NASA NTRS1990

An experimental study of the nonlinear dynamic phenomenon known as wing rock

An experimental investigation into the physical phenomena associated with limit cycle wing rock on slender delta wings has been conducted. The model used was a slender flat plate delta wing with 80-deg leading edge sweep. The investigation concentrated on three main areas: motion characteristics obtained from time history plots, static and dynamic flow visualization of vortex position, and static and dynamic flow visualization of vortex breakdown. The flow visualization studies are correlated with model motion to determine the relationship between vortex position and vortex breakdown with the dynamic rolling moments. Dynamic roll moment coefficient curves reveal rate-dependent hysteresis, which drives the motion. Vortex position correlated with time and model motion show a time lag in the normal position of the upward moving wing vortex. This time lag may be the mechanism responsible for the hysteresis. Vortex breakdown is shown to have a damping effect on the motion.

Arena, A. S., Jr.↗

NASA NTRS1990

The kinematics and dynamics of space manipulators - The virtual manipulator approach

Future robotic manipulator systems will be required to perform complex tasks in space such as satellite repair. These robotic manipulators will encounter a number of kinematic, dynamic, and control problems caused by the dynamic coupling between the manipulators and its spacecraft. This dynamic coupling also makes it difficult to analyze these systems. This paper introduces a new analytical modeling method for space manipulators called the Virtual Manipulator (VM), which has a fixed based in inertial space at a point called a Virtual Ground. The kinematics and dynamics of the manipulator, spacecraft, and payload can be described relatively easily in terms of the VM. With its fixed base, the Virtual Manipulator is shown to have the potential to be an effective aid for the analysis, design, and development of future space manipulator systems.

Vafa, Z.↗