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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 217 records · Page 12

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NASA NTRSDate not supplied

Ground Wind Loads on the Space Launch System’s Mobile Launcher Crew Access Arm

An aerodynamic database for the crew access arm during deployment is generated. While initial attempts used data derived from wind tunnel testing, limitations lead to the use of computational fluid dynamics to improve analysis. This computational data compared favorably to the experimental data increasing confidence in both. Further analysis lead to simplification showing the ability to build the database with a single relative wind variable which takes into account both arm deployment angle and wind direction. Eventually geometric simplifications and conservative results lead to the use of simulations of the CAA alone to build the database.Finally these static conditions are then compared to a dynamic simulation where the CAA rotates into position to test the quasi-steady state assumptions used to generate the database. The dynamic case showed an increase in the moment of interest but within acceptable bounds for now.

SLS↗

NASA NTRS1966

Flexible arms provide constant force for pressure switch calibration

In-place calibration of a pressure switch is provided by a system of radially oriented flexing arms which, when rotated at a known velocity, convert the centrifugal force of the arms to a linear force along the shaft. The linear force, when applied to a pressure switch diaphragm, can then be calculated.

Cain, D. E.↗

NASA NTRS1966

Hydraulically controlled flexible arm can bend in any direction

Arm assembly consisting of four flexible tubes controlled by a four-way hydraulic or pneumatic valve can bend in any direction. The flexible arm could be used for probing areas that cannot be reached by ordinary tools, handling hazardous materials, and for graph recording.

Griffin, F. D.↗

NASA NTRS1971

Improved orthopedic arm joint

Joint permits smooth and easy movement of disabled arm and is smaller, lighter and less expensive than previous models. Device is interchangeable and may be used on either arm at the shoulder or at the elbow.

Dane, D. H.↗

NASA NTRS1972

Optimal trajectory generation for mechanical arms

A general method of generating optimal trajectories between an initial and a final position of an n degree of freedom manipulator arm with nonlinear equations of motion is proposed. The method is based on the assumption that the time history of each of the coordinates can be expanded in a series of simple time functions. By searching over the coefficients of the terms in the expansion, trajectories which minimize the value of a given cost function can be obtained. The method has been applied to a planar three degree of freedom arm.

Iemenschot, J. A.↗

NASA NTRS1973

Motions near the galactic center and the '3-kpc arm.'

As a first approximation, the motions of the neutral hydrogen in the region between 1 and 5 kpc from the galactic center are found to be well represented in the Tb(l, V) diagram by a disk in differential rotation, and no evidence is found for a general field of expanding motions. Consequently, a rotation curve for this region has been derived from the observations. The new curve indicates a more uniform distribution of mass in the inner region of the Galaxy than many previous models. In a second approximation, a set of parameters is derived for an elliptical dispersion ring that represents not only the 3-kpc arm but also the + 70 km/sec expanding arm in the Tb(l, V) diagram.

Simonson, S. C., III↗

NASA NTRS1973

The 'rolling motion' phenomenon in galactic spiral arms

The 'rolling motion' in the spiral arms in the outer parts of the Galaxy are interpreted as only apparent motions caused by the combined effect of the bending of the galactic plane and the differential rotation. Theoretical contour maps (latitude vs velocity) are plotted in a number of directions on both sides of the Galaxy for direct comparison with observations. The velocity and density fields used in the calculations are based on a linear analysis of the three-dimensional gas motions in response to the spiral density-wave potential studied by Lin, Shu, and Yuan and by Vandervoort (1970). It is found that the combined effect under consideration is sufficient to cause an apparent rolling motion in a spiral arm.

Yuan, C.↗

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 NTRS1975

Holddown arm release mechanism used on Saturn vehicles

With the development of the Saturn launch vehicle, it became mandatory to develop a system for restraining the vehicle until after all checks and engine thrust buildup were completed. The basic Saturn I holddown arm constrains the vehicle by clamping it between a fixed support and a movable jaw. The jaw is on a link pinned to rotate sufficiently to release the vehicle. There are three links in the jaw (restraining) system arranged so that with a small force provided by a pneumatic separator mechanism, the large loads of the vehicle can be restrained. Design details discussed are the link system, the separator, adjustments, and the energy absorber. The function of preloading is discussed. The secondary release system is described. Finally, the design differences between the Saturn I and the Saturn V arm are described.

Phillips, J. D.↗

NASA NTRS1975

Orion-arm magnetic monopoles and gamma rays

It is shown that galactic-disk monopoles could yield air showers which are stochastically aligned with the local Orion-arm magnetic field and which are above the energies of similarly aligned galactic heavy nuclei. In the absence of a cosmic-ray anisotropy, this method sets limits on the flux of galactic monopoles and their production cross sections. Limits based on the cosmic-ray anisotropy at 10 to the 19th power eV are presented. The possibility of stochastic alignment of inverse Compton photons from monopoles and 2.7 K black-body photons is considered. The resulting monopole-flux limits, based on the same data as those calculated by Osborne (1970), differ significantly from Osborne's limits, where the mechanisms of spiral-arm alignment and galactic containment are ignored.

Tompkins, D. R., Jr.↗

NASA NTRS1976

Predominance of two-armed spirals

A physical process accounts for the origin and widespread occurrence of two-armed spiral patterns with a high degree of symmetry extending from the nucleus to the outermost part of a galaxy. Self-gravitating systems, starting from a wide variety of initial conditions, settle down into twofold symmetries through a sequence of forms that were identified in numerical experiments. Twofold symmetries rarely develop directly. Instead, the systems pass through a sequence of more complicated shapes. The computer experiments and the sequence leading to twofold symmetries are described. At the end of this process, a two-armed spiral density wave with a 'grand design' has been set up in the galaxy, and the stage has been set for some mechanism, such as that of Lin and Shu (1971), to take over to assure a long lifetime for the pattern.

Miller, R. H.↗

NASA NTRS1977

RMS massless arm dynamics capability in the SVDS

The equations of motion for the remote manipulator system, assuming that the masses and inertias of the arm can be neglected, are developed for implementation into the space vehicle dynamics simulation (SVDS) program for the Orbiter payload system. The arm flexibility is incorporated into the equations by the computation of flexibility terms for use in the joint servo model. The approach developed in this report is based on using the Jacobian transformation matrix to transform force and velocity terms between the configuration space and the task space to simplify the form of the equations.

Flanders, H. A.↗

NASA NTRS1975

Application of a postulate based control theory for an artificial arm

The biocontroller, remnant of the natural arm, and feedback elements must be considered in designing a controller for an above elbow artificial arm for amputees. This fundamental postulate is used to derive equations for developing the controller, which is shown in block diagrams.

Jacobsen, S. C.↗

NASA NTRS1978

On the calculation of squaring loss in Costas loops with arbitrary arm filters

Specific numerical results for the squaring loss in Costas loop tracking are discussed for cases when the input data were biphase-L, and the Costas loop arm filters were of the n-pole Butterworth type. It is pointed out that a simple scientific calculator may be used for the computations, provided the transfer function of the arm filter has simple poles. The technique can also be used to compute the squaring loss in other modulation forms, such as unbalanced quadriphase-shift-keying (QPSK).

Simon, M. K.↗

NASA NTRS1978

Tracking performance of unbalanced QPSK demodulators. II - Biphase Costas loop with active arm filters

In a Costas loop study for biphase modulation conducted by Simon and Lindsey (1977), it was demonstrated that considerable improvement in tracking performance could be obtained by employing active arm filters of the integrate-and-dump type as opposed to passive arm filters. An investigation is conducted concerning the possibility to obtain a similar performance improvement for an unbalanced quadriphase-shift-keying (QPSK) modulation. It is found that the biphase Costas loop can be used as an efficient demodulator of QPSK in cases in which the ratio of data rates is of the same order of magnitude as the inverse of the power ratio. These cases involve approximately equal signal energies in the two channels.

Simon, M. K.↗

NASA NTRS1978

The proto-type wrist joint assembly TACPAW (Triple Axis Common Pivot Arm Wrist), phase 2

A wrist joint assembly is described for use with a mechanical manipulator arm for finely positioning an end-effector carried by the wrist joint on the terminal end of the manipulator arm. The wrist joint assembly is pivotable about a first axis to produce a yaw motion, a second axis to produce a pitch motion, and a third axis to produce a roll motion. The performance of the wrist configuration is indicative of the capability to produce the 15 ft lb torque in either one of the three motions and the smoothness of operation is notable.

Kersten, L.↗

NASA NTRS1980

Triple-axis common-pivot arm wrist device for manipulative applications

A concept in manipulator development to overcome the 'weak wrist syndrome', a triple-axis common-pivot arm wrist (TACPAW), is presented. It contains torque motors for actuation, tachometers for measuring rate, and resolvers for position measurements. Furthermore, it provides three degrees of freedom, i.e., pitch, yaw, and roll, in a single manipulator joint. The advantages of this development are increased strength, compactness, and simplification of controls. Designed to be compatible with the protoflight manipulator arm, the joints of TACPAW are back-driveable with + or - 45 deg rotation in pitch, + or - 45 deg in yaw and continuous roll in either direction while delivering 20.5 N-m (15 ft-lb) torque in each of the three movements.

Kersten, L.↗

NASA NTRS1980

Control of a flexible robot arm

Exact equations of motion of an arm with known parameters were developed and analyzed preparatory to designing control systems for robotic manipulators. The design of an experimental one-link arm for testing control designs is presented.

Schmitz, E.↗