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At least 289 records · Page 16

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NASA NTRS1992

Kinematics of an in-parallel actuated manipulator based on the Stewart platform mechanism

This paper presents kinematic equations and solutions for an in-parallel actuated robotic mechanism based on Stewart's platform. These equations are required for inverse position and resolved rate (inverse velocity) platform control. NASA LaRC has a Vehicle Emulator System (VES) platform designed by MIT which is based on Stewart's platform. The inverse position solution is straight-forward and computationally inexpensive. Given the desired position and orientation of the moving platform with respect to the base, the lengths of the prismatic leg actuators are calculated. The forward position solution is more complicated and theoretically has 16 solutions. The position and orientation of the moving platform with respect to the base is calculated given the leg actuator lengths. Two methods are pursued in this paper to solve this problem. The resolved rate (inverse velocity) solution is derived. Given the desired Cartesian velocity of the end-effector, the required leg actuator rates are calculated. The Newton-Raphson Jacobian matrix resulting from the second forward position kinematics solution is a modified inverse Jacobian matrix. Examples and simulations are given for the VES.

Williams, Robert L., II↗

NASA NTRS1992

New inertial actuator provides isolation and stabilization in microgravity conditions

Experiments in materials and fluids processing have been conducted, or are planned, that take advantage of the low-g environment offered by space-based platforms. While the specific goals of the experiments vary, a common objective is to see improved results from the processes over those that would be obtained from similar ground-based experiments. While the space-based processing environment does offer a low-g environment, it is not disturbance free. Results of experiments already conducted, particularly those in manned vehicles, show that spacecraft induced disturbances still limit what can be achieved in materials processing. The duration of actual micro-g level environments is shorter than desired and periods of milli-g activity levels are not uncommon. While small scale experiments can be configured to overcome some of the vehicle disturbance sources, larger scale processing devices and commercial activities will require alternative methods to reduce the influences of spacecraft vibrations. Applied Technology Associates, Inc., (ATA), in cooperation with NASA Lewis Research Center, is developing hardware to provide a sustained micro-g experiment environment. This work is being sponsored under a Small Business Innovation Research (SBIR) program, which is currently in the Phase 2 development stage. ATA's approach is based on an inertial actuator, which when used as part of a closed-loop stabilization system, rejects unwanted disturbances to the experiment package. A prototype of the actuator has been fabricated and used in a laboratory demonstration to prove the principle of operation. ATA's presentation emphasized the development and testing of the Digital Materials Processing Experiment (DAMPER) inertial actuator. Physical and performance characteristics of the device are presented. Technical issues, including further optimization of the actuator's performance and plans for additional laboratory experiments, are also covered.

Blackburn, John↗

NASA NTRS1992

Controllability and observability of flexible structures with proof-mass actuators

Relationships between Hankel singular values of a structure with a proof-mass actuator to those of a structure with an ideal actuator are analyzed. They indicate that the proof-mass actuator has little influence on Hankel singular values of a structure if the natural frequency of the actuator is much lower than the structural frequencies. This fact significantly simplifies controllability/observability analysis and model reduction of flexible structures. Results from numerical simulations verify the conclusions.

Gawronski, W.↗

NASA NTRS1993

Smart patch piezoceramic actuator issues

The Phillips Laboratory is undertaking the challenge of finding new and innovative ways to integrate sensing, actuation, and the supporting control and power electronics into a compact self-contained unit to provide vibration suppression for a host structure. This self-contained unit is commonly referred to as a smart patch. The interfaces to the smart patch will be limited to standard spacecraft power and possibly a communications line. The effort to develop a smart patch involves both contractual and inhouse programs which are currently focused on miniaturization of the electronics associated with vibrational control using piezoceramic sensors and actuators. This paper is comprised of two distinct parts. The first part examines issues associated with bonding piezoceramic actuators to a host structure. Experimental data from several specimens with varying flexural stiffness are compared to predictions from two piezoelectric/substructure coupling models, the Blocked Force Model and the Uniform Strain Model with Perfect Bonding. The second part of the paper highlights a demonstration article smart patch created using the insights gained from inhouse efforts at the Phillips Laboratory. This demonstration article has self contained electronics on the same order of size as the actuator powered by a voltage differential of approximately 32 volts. This voltage is provided by four rechargeable 8 volt batteries.

Griffin, Steven F.↗

NASA NTRS1993

Analysis, design, and testing of a low cost, direct force command linear proof mass actuator for structural control

In this paper, the design, analysis, and test of a low cost, linear proof mass actuator for vibration control is presented. The actuator is based on a linear induction coil from a large computer disk drive. Such disk drives are readily available and provide the linear actuator, current feedback amplifier, and power supply for a highly effective, yet inexpensive, experimental laboratory actuator. The device is implemented as a force command input system, and the performance is virtually the same as other, more sophisticated, linear proof mass systems.

Slater, G. L.↗

NASA NTRS1992

Sensor and actuator technology development

Viewgraphs on sensor and actuator technology development are presented. Topics covered include: sensor and actuator placement for robustness; self-sensing actuators; and nonlinear actuation models.

Anderson, Eric↗

NASA NTRS1993

Structural/control system optimization with variable actuator masses

A method is presented to integrate the design space for structural/control system optimization problems in the case of linear state feedback control. Nonstructural lumped masses and control system design variables as well as structural sizing variables are all treated equally as independent design variables in the optimization process. Structural and control design variable linking schemes are used in order to avoid a prohibitively large increase in the total number of independent design variables. When actuator masses are treated as nonstructural lumped mass design variables, special consideration is given to the relation between the transient peak responses and the required actuator masses which is formulated as a behavior constraint form. The original nonlinear mathematical programming problem based on a finite element formulation and linear state feedback is replaced by a sequence of explicit approximate problems exploiting various approximation concepts such as design variable linkings, temporary constraint deletion and first order Taylor series expansion of nonlinear behavior constraints in terms of intermediate design variables. Examples which involve a variety of dynamic behavior constraints (including constraints on closed-loop eigenvalues, peak transient displacements, peak actuator forces, and relations between the peak responses and the actuator masses) are effectively solved by using the method presented.

Jin, Ik M.↗

NASA NTRS1994

Powerful Electromechanical Linear Actuator

Powerful electromechanical linear actuator designed to replace hydraulic actuator that provides incremental linear movements to large object and holds its position against heavy loads. Electromechanical actuator cleaner and simpler, and needs less maintenance. Two principal innovative features that distinguish new actuator are use of shaft-angle resolver as source of position feedback to electronic control subsystem and antibacklash gearing arrangement.

Cowan, John R.↗

NASA NTRS1993

Design and test of electromechanical actuators for thrust vector control

New control mechanisms technologies are currently being explored to provide alternatives to hydraulic thrust vector control (TVC) actuation systems. For many years engineers have been encouraging the investigation of electromechanical actuators (EMA) to take the place of hydraulics for spacecraft control/gimballing systems. The rationale is to deliver a lighter, cleaner, safer, more easily maintained, as well as energy efficient space vehicle. In light of this continued concern to improve the TVC system, the Propulsion Laboratory at the NASA George C. Marshall Space Flight Center (MSFC) is involved in a program to develop electromechanical actuators for the purpose of testing and TVC system implementation. Through this effort, an electromechanical thrust vector control actuator has been designed and assembled. The design consists of the following major components: Two three-phase brushless dc motors, a two pass gear reduction system, and a roller screw, which converts rotational input into linear output. System control is provided by a solid-state electronic controller and power supply. A pair of resolvers and associated electronics deliver position feedback to the controller such that precise positioning is achieved. Testing and evaluation is currently in progress. Goals focus on performance comparisons between EMA's and similar hydraulic systems.

Cowan, J. R.↗

NASA NTRS1994

Materials for efficient high-flux magnetic bearing actuators

Magnetic bearings have demonstrated the capability for achieving positioning accuracies at the nanometer level in precision motion control stages. This makes possible the positioning of a wafer in six degrees of freedom with the precision necessary for photolithography. To control the position of an object at the nanometer level, a model of the magnetic bearing actuator force-current-airgap relationship must be accurately obtained. Additionally, to reduce thermal effects the design of the actuator should be optimized to achieve maximum power efficiency and flux density. Optimization of the actuator is accomplished by proper pole face sizing and utilizing a magnetic core material which can be magnetized to the highest flux density with low magnetic loss properties. This paper describes the construction of a magnetic bearing calibration fixture designed for experimental measurement of the actuator force characteristics. The results of a material study that review the force properties of nickel-steel, silicon-steel, and cobalt-vanadium-iron, as they apply to magnetic bearing applications are also presented.

Williams, M. E.↗

NASA NTRS1994

Effects of noise variance model on optimal feedback design and actuator placement

In optimal placement of actuators for stochastic systems, it is commonly assumed that the actuator noise variances are not related to the feedback matrix and the actuator locations. In this paper, we will discuss the limitation of that assumption and develop a more practical noise variance model. Various properties associated with optimal actuator placement under the assumption of this noise variance model are discovered through the analytical study of a second order system.

Ruan, Mifang↗

NASA NTRS1994

Linear Proof Mass Actuator

This paper describes the mechanical design, analysis, fabrication, testing, and lessons learned by developing a uniquely designed spaceflight-like actuator. The linear proof mass actuator (LPMA) was designed to attach to both a large space structure and a ground test model without modification. Previous designs lacked the power to perform in a terrestrial environment while other designs failed to produce the desired accelerations or frequency range for spaceflight applications. Thus, the design for a unique actuator was conceived and developed at NASA Langley Research Center. The basic design consists of four large mechanical parts (mass, upper housing, lower housing, and center support) and numerous smaller supporting components including an accelerometer, encoder, and four drive motors. Fabrication personnel were included early in the design phase of the LPMA as part of an integrated manufacturing process to alleviate potential difficulties in machining an already challenging design. Operating testing of the LPMA demonstrated that the actuator is capable of various types of load functions.

Holloway, Sidney E., III↗

NASA NTRS1994

Wind-tunnel blockage and actuation systems test of a two-dimensional scramjet inlet unstart model at Mach 6

The present study examines the wind-tunnel blockage and actuation systems effectiveness in starting and forcibly unstarting a two-dimensional scramjet inlet in the NASA Langley 20-Inch Mach 6 Tunnel. The intent of the overall test program is to study (both experimentally and computationally) the dynamics of the inlet unstart; however, prior to the design and fabrication of an expensive, instrumented wind-tunnel model, it was deemed necessary first to examine potential wind-tunnel blockage issues related to model sizing and to examine the adequacy of the actuation systems in accomplishing the start and unstart. The model is equipped with both a moveable cowl and aft plug. Windows in the inlet sidewalls allow limited optical access to the internal shock structure; schlieren video was used to identify inlet start and unstart. A chronology of each actuation sequence is provided in tabular form along with still frames from the schlieren video. A pitot probe monitored the freestream conditions throughout the start/unstart process to determine if there was a blockage effect due to the model start or unstart. Because the purpose of this report is to make the phase I (blockage and actuation systems) data rapidly available to the community, the data is presented largely without analysis of the internal shock interactions or the unstart process. This series of tests indicated that the model was appropriately sized for this facility and identified operability limits required first to allow the inlet to start and second to force the unstart.

Holland, Scott D.↗

NASA NTRS1995

Linear Proof Mass Actuator

This paper describes the mechanical design, analysis, fabrication, testing, and lessons learned by developing a uniquely designed spaceflight-like actuator. The Linear Proof Mass Actuator (LPMA) was designed to attach to both a large space structure and a ground test model without modification. Previous designs lacked the power to perform in a terrestrial environment while other designs failed to produce the desired accelerations or frequency range for spaceflight applications. Thus, the design for a unique actuator was conceived and developed at NASA Langley Research Center. The basic design consists of four large mechanical parts (Mass, Upper Housing, Lower Housing, and Center Support) and numerous smaller supporting components including an accelerometer, encoder, and four drive motors. Fabrication personnel were included early in the design phase of the LPMA as part of an integrated manufacturing process to alleviate potential difficulties in machining an already challenging design. Operational testing of the LPMA demonstrated that the actuator is capable of various types of load functions.

Holloway, S. E., III↗

NASA NTRS1995

Shape-Memory-Alloy Actuator For Flight Controls

Report proposes use of shape-memory-alloy actuators, instead of hydraulic actuators, for aerodynamic flight-control surfaces. Actuator made of shape-memory alloy converts thermal energy into mechanical work by changing shape as it makes transitions between martensitic and austenitic crystalline phase states of alloy. Because both hot exhaust gases and cryogenic propellant liquids available aboard launch rockets, shape-memory-alloy actuators exceptionally suited for use aboard such rockets.

Barret, Chris↗

NASA NTRS1995

A Method for Exploiting Redundancy to Accommodate Actuator Limits in Multivariable Systems

This paper introduces a new method for accommodating actuator saturation in a multivariable system with actuator redundancy. Actuator saturation can cause significant deterioration in control system performance because unmet demand may result in sluggish transients and oscillations in response to setpoint changes. To help compensate for this problem, a technique has been developed which takes advantage of redundancy in multivariable systems to redistribute the unmet control demand over the remaining useful effectors. This method is not a redesign procedure, rather it modifies commands to the unlimited effectors to compensate for those which are limited, thereby exploiting the built-in redundancy. The original commands are modified by the increments due to unmet demand, but when a saturated effector comes off its limit, the incremental commands disappear and the original unmodified controller remains intact. This scheme provides a smooth transition between saturated and unsaturated modes as it divides up the unmet requirement over any available actuators. This way, if there is sufficiently redundant control authority, performance can be maintained.

Litt, Jonathan↗

NASA NTRS1996

Results of a Parametric Study on 10,000 lb. and 50,000 lb. Permanent Magnetic Actuators

The purpose of this study was to generate design data and complete dynamic performance estimates for a high performance permanent magnet actuator. The basic configuration selected for analysis is an axisymmetric Nd-B-Fe permanent magnet actuator capable of providing force in one direction along its major axis. The actuator consisted of two main axisymmetric components separated by an air gap. The design was optimized for each value of force, gap and magnetic field to yield minimum weight and maximum lift to weight ratio. The basic conclusion is that, within parameters considered, the 10,000 lb. and 50,000 lb. actuators are lightweight and compact. As expected for most permanent magnet devices, the smaller ones have higher lift to eight ratios.

Stekly, Z. J. J.↗

NASA NTRS1996

Design of a Long-Stroke Noncontact Electromagnetic Actuator for Active Vibration Isolation

A long-stroke moving coil Lorentz Actuator was designed for use in a microgravity vibration isolation experiment. The final design had a stroke of 5.08 cm (2 in) and enough force capability to isolate a mass of the order of 22.7-45.4 kg. A simple dynamic magnetic circuit analysis, using an electrical analog, was developed for the initial design of the actuator. A neodymium-iron-boron material with energy density of 278 T-kA/m (35 MGOe) was selected to supply the magnetic field. The effect of changes in the design parameters of core diameter, shell outer diameter, pole face length, and coil wire layers were investigated. An extensive three-dimensional finite element analysis was carried out to accurately determine linearity with regard to axial position of the coil and coil current levels. The actuator was constructed and tested on a universal testing machine. Example plots are shown, indicating good linearity over the stroke of approximately 5.08 cm (2 in) and a range of coil currents from -1.5 A to +1.5 A. The actuator was then used for the microgravity vibration isolation experiments, described elsewhere.

Banerjee, Bibhuti↗