Engineering topics

Lawrence, C.

Publications and source records attributed to Lawrence, C..

29 records · Page 2

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 NTRS1988

Robots for manipulation in a micro-gravity environment

This paper is concerned with the development of control strategies and mechanisms for robots 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. Approaches discussed for controlling the robot base reactions/motions include strategies making use of manipulators with redundant degrees of freedon, actuators at the robot base, and a redundant (balancing) arm. Two degree-of-freedom, traction-drive joints are discussed as well as the conceptual design for a traction-driven manipulator.

Quinn, R. D.↗

NASA NTRS1987

Nonlinear vibration and stability of rotating, pretwisted, preconed blades including Coriolis effects

The coupled bending-bending-torsional equations of dynamic motion of rotating, linearly pretwisted blades are derived including large precone, second degree geometric nonlinearities and Coriolis effects. The equations are solved by the Galerkin method and a linear perturbation technique. Accuracy of the present method is verified by conparisons of predicted frequencies and steady state deflections with those from MSC/NASTRAN and from experiments. Parametric results are generated to establish where inclusion of only the second degree geometric nonlinearities is adequate. The nonlinear terms causing torsional divergence in thin blades are identified. The effects of Coriolis terms and several other structurally nonlinear terms are studied, and their relative importance is examined.

Subrahmanyam, K. B.↗

NASA NTRS1987

Identification of structural interface characteristics using component mode synthesis

The inability to adequately model connections has limited the ability to predict overall system dynamic response. Connections between structural components are often mechanically complex and difficult to accurately model analytically. Improved analytical models for connections are needed to improve system dynamic predictions. This study explores combining Component Mode synthesis methods for coupling structural components with Parameter Identification procedures for improving the analytical modeling of the connections. Improvements in the connection properties are computed in terms of physical parameters so the physical characteristics of the connections can be better understood, in addition to providing improved input for the system model. Two sample problems, one utilizing simulated data, the other using experimental data from a rotor dynamic test rig are presented.

Huckelbridge, A. A.↗

NASA NTRS1987

Identification of structural interface characteristics using component mode synthesis

Huckelbridge, A. A.↗

NASA NTRS1986

Identification of differences between finite element analysis and experimental vibration data

An important problem that has emerged from combined analytical/experimental investigations is the task of identifying and quantifying the differences between results predicted by F.E. analysis and results obtained from experiment. The objective of this study is to extend and evaluate the procedure developed by Sidhu for correlation of linear F.E. and modal test data to include structures with viscous damping. The desirability of developing this procedure is that the differences are identified in terms of physical mass, damping, and stiffness parameters instead of in terms of frequencies and modes shapes. Since the differences are computed in terms of physical parameters, locations of modeling problems can be directly identified in the F.E. model. From simulated data it was determined that the accuracy of the computed differences increases as the number of experimentally measured modes included in the calculations is increased. When the number of experimental modes is at least equal to the number of translational degrees of freedom in the F.E. model both the location and magnitude of the differences can be computed very accurately. When the number of modes is less than this amount the location of the differences may be determined even though their magnitudes will be under estimated.

Lawrence, C.↗

NASA NTRS1986

Dynamic characteristics of an assembly of prop-fan blades

In contrast to conventional propellers, propfan blades are thin and highly swept-back, thereby giving rise to large bending and twisting deformations and complex vibratory characteristics. Aerodynamic performance depends on the extent of steady state deformation, and the aeroelastic response depends on the vibratory frequency and mode shape. Attention is presently given to the principal results of structural analyses for a five-bladed propfan assembly; these results are compared with test data. The results encompass both steady deformations and vibratory frequencies and mode shapes in a vacuum centrifugal environment.

Srinivasan, A. V.↗

NASA NTRS1986

Nonlinear bending-torsional vibration and stability of rotating, pretwisted, preconed blades including Coriolis effects

The coupled bending-bending-torsional equations of dynamic motion of rotating, linearly pretwisted blades are derived including large precone, second degree geometric nonlinearities and Coriolis effects. The equations are solved by the Galerkin method and a linear perturbation technique. Accuracy of the present method is verified by comparisons of predicted frequencies and steady state deflections with those from MSC/NASTRAN and from experiments. Parametric results are generated to establish where inclusion of only the second degree geometric nonlinearities is adequate. The nonlinear terms causing torsional divergence in thin blades are identified. The effects of Coriolis terms and several other structurally nonlinear terms are studied, and their relative importance is examined.

Subrahmanyam, K. B.↗

NASA NTRS1985

The use of an optical data acquisition system for bladed disk vibration analysis

A new concept in instrumentation was developed by engineers at NASA Lewis Research Center to collect vibration data from multi-bladed rotors. This new concept, known as the optical data acquisition system, uses optical transducers to measure bladed tip deflections by reflection of light beams off the tips of the blades as they pass in front of the optical transducer. By using an array of transducers around the perimeter of the rotor, detailed vibration signals can be obtained. In this study, resonant frequencies and mode shapes were determined for a 56 bladed rotor using the optical system. Frequency data from the optical system was also compared to data obtained from strain gauge measurements and finite element analysis and was found to be in good agreement.

Lawrence, C.↗

NASA NTRS1984

The use of an optical data acquisition system for bladed disk vibration analysis

A new concept in instrumentation was developed by engineers at NASA Lewis Research Center to collect vibration data from multi-bladed rotors. This new concept, known as the optical data acquisition system, uses optical transducers to measure bladed tip delections by reflection light beams off the tips of the blades as they pass in front of the optical transducer. By using an array of transducers around the perimeter of the rotor, detailed vibration signals can be obtained. In this study, resonant frequencies and mode shapes were determined for a 56 bladed rotor using the optical system. Frequency data from the optical system was also compared to data obtained from strain gauge measurements and finite element analysis and was found to be in good agreement.

Lawrence, C.↗

NASA NTRS1984

Nonlinear displacement analysis of advanced propeller structures using NASTRAN

The steady state displacements of a rotating advanced turboprop are computed using the geometrically nonlinear capabilities of COSMIC NASTRAN Rigid Format 4 and MSC NASTRAN Solution 64. A description of the modified Newton-Raphson algorithm used by Solution 64 and the iterative scheme used by Rigid Format 4 is provided. A representative advanced turboprop, SR3, was used for the study. Displacements for SR3 are computed for rotational speeds up to 10,000 rpm. The results show Solution 64 to be superior for computating displacements of flexible rotating structures. This is attributed to its ability to update the displacement dependent centrifugal force during the solution process.

Lawrence, C.↗