Engineering topics

Lazar, J. J.

Publications and source records attributed to Lazar, J. J..

3 records

NASA NTRS1975

A manipulator arm for zero-g simulations

A 12-ft counterbalanced Slave Manipulator Arm (SMA) was designed and fabricated to be used for resolving the questions of operational applications, capabilities, and limitations for such remote manned systems as the Payload Deployment and Retrieval Mechanism (PDRM) for the shuttle, the Free-Flying Teleoperator System, the Advanced Space Tug, and Planetary Rovers. As a developmental tool for the shuttle manipulator system (or PDRM), the SMA represents an approximate one-quarter scale working model for simulating and demonstrating payload handling, docking assistance, and satellite servicing. For the Free-Flying Teleoperator System and the Advanced Tug, the SMA provides a near full-scale developmental tool for satellite servicing, docking, and deployment/retrieval procedures, techniques, and support equipment requirements. For the Planetary Rovers, it provides an oversize developmental tool for sample handling and soil mechanics investigations. The design of the SMA was based on concepts developed for a 40-ft NASA technology arm to be used for zero-g shuttle manipulator simulations.

Brodie, S. B.↗

NASA NTRS1974

Configuration and design study of manipulator systems applicable to the freeflying teleoperator. Volume 2: Preliminary design

The preliminary design of a remotely controlled teleoperator for space application is reported that depends on man for control inputs and extends operation of the space shuttle.

Tewell, J. R.↗

NASA NTRS1974

A manipulator system designed for Free-Flying Teleoperator Spacecraft

A preliminary design of a manipulator system, applicable to a Free-Flying Teleoperator Spacecraft operating in conjunction with the Shuttle or Tug, is presented. The manipulator arm incorporates two 4-ft segments to the wrist with actuators located at the shoulder, elbow, and wrist. The wrist provides three degrees-of-freedom through pitch, yaw and continuous roll joints. An interchangeable end effector provides multiple task performance and satellite worksite versatility. A tip force of 10 lbs and a torque of 15 ft-lbs is provided. Man-in-the-loop simulations, using both unilateral and bilateral control techniques, were conducted. Based upon the simulation, a new, but relatively simple, control technique was proposed for the manipulator system.

Tewell, J. R.↗