Overview of the NASA Docking Systemand the International Docking System Standard
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Parma, George F.↗
Engineering topics
Parma, George F.
Publications and source records attributed to Parma, George F..
Overview of the NASA Docking System (NDS) and the International Docking System Standard (IDSS)
The NASA/JSC Engineering Directorate has been developing the technology for a Low Impact Docking System (LIDS) for many years. LIDS had been chosen to be the Constellation Program baseline. In February 2009, the International Space Station (ISS) Multilateral control Board (MCB) began an initiative to develop an International Docking System Standard (IDSS) to facilitate greater international cooperation in space and enable emergency crew rescue missions. Discussions as to whether the LIDS could be made compatible with the IDSS were under way. With the cancellation of the Constellation Program, NASA made a policy decision to convert both of the docking ports on the United States On-orbit Segment (USOS) to IDSS ports and NASA moved the LIDS project under the ISS Program. LIDS was redesigned to become the NASA implementation of the emerging IDSS, and its name was changed to the NASA Docking System (NDS). The NDS design will be certified as a gblack box h which can be integrated onto vehicles planning to dock to the ISS IDSS ports. This presentation will discuss the evolution of the IDSS from both the LIDS and the Androgynous Peripheral Assembly System (APAS) and outline the interface requirements which are given in the IDSS Interface Definition Document (IDD). It also will give an overview of the current NDS design, and touch on ISS plans for converting its docking ports to be IDSS compliant.
Parma, George F.↗
Robot-friendly connector
Robot friendly connectors, which, in one aspect, are truss joints with two parts, a receptacle and a joint, are presented. The joints have a head which is loosely inserted into the receptacle and is then tightened and aligned. In one aspect, the head is a rounded hammerhead which initially is enclosed in the receptacle with sloppy fit provided by the shape, size, and configuration of surfaces on the head and on the receptacle.
Parma, George F.↗
Development of a truss joint for robotic assembly of space structures
This report presents the results of a detailed study of mechanical fasteners which were designed to facilitate robotic assembly of structures. Design requirements for robotic structural assembly were developed, taking into account structural properties and overall system design, and four candidate fasteners were designed to meet them. These fasteners were built and evaluated in the laboratory, and the Hammer-Head joint was chosen as superior overall. It had a high reliability of fastening under misalignments of 2.54 mm (0.1 in) and 3 deg, the highest end fixity (2.18), the simplest end effector, an integral capture guide, good visual verification, and the lightest weight (782 g, 1.72 lb). The study found that a good design should incorporate chamfers sliding on chamfers, cylinders sliding on chamfers, and hard surface finishes on sliding surfaces. The study also comments on robot flexibility, sag, hysteresis, thermal expansion, and friction which were observed during the testing.
Parma, George F.↗
Gripping device
This invention relates to a gripping device, and more particularly to one with a large moment carrying capability for handling long workpieces of various diameters and which can be particularly used as an end effector on a robotic arm.
Parma, George F.↗
Robot Hand Grips Cylinders Securely
Jaws and linkage accommodate various sizes. Robot hand includes two pairs of parallel jaws that grasp rods, pipes, tubes, struts, and other long, heavy cylindrical objects. Hand features compact rotary drive and butterfly configuration simplifying approach and gripping maneuvers of robot. Parallelogram linkages maintain alignment of each jaw with other jaws. One bar of each linkage connected to one of two concentric, counterrotating shafts; rotation of shafts moves jaws in each pair toward or away from each other to grasp or release workpiece. Each jaw includes rigid gripping pad lined with rubber to give firm grip and to prevent damage to workpiece. Inner cylindrical surface (corner) of each jaw tapers off to flat sides. Enables jaw to grasp workpieces with diameters larger than or equal to twice the corner radius.
Parma, George F.↗