Computer Mechanization of Six-degree of Freedom Flight Equations
Computer simulation of six degree of freedom flight equations
Fogarty, L. E.↗
SEARCH · Search NASA
Results for “DEGREES OF FREEDOM”
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.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
Computer mechanization of six-degree of freedom flight equations.
Computer solution of six degrees of freedom flight equations, discussing advantages of using flight path axes for translational equations of motion
Fogarty, L. E.↗
Passive Capture Joint with Three Degrees of Freedom
A passive capture joint with three degrees of freedom is presented wherein two structural elements are joined together solely by moving the two elements into position, and which when joined together have rotation in all three axes. The inventive apparatus is comprised of two halves: (1) a joint ball mounted on a stem as in a common trailer hitch, and; (2) a socket. The socket consists of a base having an exterior wall and forming an interior chamber, the chamber having a top end and a bottom end, and an interior wall. The chamber is open at the top end, and forms a spherical cup at the bottom end. The socket base's interior chamber is sized to accept the joint ball. The base also forms at least one bore at an acute angle away from the interior chamber's open end. The bores have a first opening in the interior wall of the chamber, and a second opening in the exterior wall of the base. Retaining balls sized to fit within the bores, but to only partially pass through the first opening, are moveably housed within the bores. The retaining balls are moveably held in the first opening by a compression spring housed in the bore. As the joint ball is inserted in the chamber it forces the retaining balls back into the bore until the equator of the joint ball passes. Because the bore is at an acute angle to the chamber the joint ball cannot exit the chamber without the joint being unlocked. The joint is unlocked by rotating a locking ring which encircles the base and covers the second opening. The locking ring has a radial slot for each retaining ball, disposed angularly from the base, and sized to allow passage of the retaining ball in the radial direction when the locking ring is rotated to align the radial slot with the second opening.
Richard A Cloyd↗
Six-degree-of-freedom parallel minimanipulator with three inextensible limbs
A Six-Degree-of-Freedom Parallel-Manipulator having three inextensible limbs for manipulating a platform is described. The three inextensible limbs are attached via universal joints to the platform at non-collinear points. Each of the inextensible limbs is also attached via universal joints to a two-degree-of-freedom parallel driver such as a five-bar linkage, a pantograph, or a bidirectional linear stepper motor. The drivers move the lower ends of the limbs parallel to a fixed base and thereby provide manipulation of the platform. The actuators are mounted on the fixed base without using any power transmission devices such as gears or belts.
Tahmasebi, Farhad↗
A 17 degree of freedom anthropomorphic manipulator
A 17 axis anthropomorphic manipulator, providing coordinated control of two seven degree of freedom arms mounted on a three degree of freedom torso-waist assembly, is presented. This massively redundant telerobot, designated the Robotics Research K/B-2017 Dexterous Manipulator, employs a modular mechanism design with joint-mounted actuators based on brushless motors and harmonic drive gear reducers. Direct joint torque control at the servo level causes these high-output joint drives to behave like direct-drive actuators, facilitating the implementation of an effective impedance control scheme. The redundant, but conservative motion control system models the manipulator as a spring-loaded linkage with viscous damping and rotary inertia at each joint. This approach allows for real time, sensor-driven control of manipulator pose using a hierarchy of competing rules, or objective functions, to avoid unplanned collisions with objects in the workplace, to produce energy-efficient, graceful motion, to increase leverage, to control effective impedance at the tool or to favor overloaded joints.
Vold, Havard I.↗
Direct formulation of a 4-node hybrid shell element with rotational degrees of freedom
A simple 4-node assumed-stress hybrid quadrilateral shell element with rotational or 'drilling' degrees of freedom is formulated. The element formulation is based directly on a 4-node element rather than being derived from an 'internal' 8-node isoparametric element. The formulation is based on the principle of minimum complementary energy. The membrane part of the element has 12 degrees of freedom. The bending part of the element also has 12 degrees of freedom. The bending part of the element uses the Reissner-Mindlin plate theory which takes into account the transverse shear effects. Quadratic variations for both in-plane and out-of-plane displacement fields and linear variations for both in-plane and out-of-plane rotation fields are assumed along the edges of the element. The element passes the patch test, is nearly insensitive to mesh distortion, has no spurious modes, and is invariant with respect to node numbering.
Aminpour, Mohammad A.↗
Multiple degree of freedom object recognition using optical relational graph decision nets
Multiple-degree-of-freedom object recognition concerns objects with no stable rest position with all scale, rotation, and aspect distortions possible. It is assumed that the objects are in a fairly benign background, so that feature extractors are usable. In-plane distortion invariance is provided by use of a polar-log coordinate transform feature space, and out-of-plane distortion invariance is provided by linear discriminant function design. Relational graph decision nets are considered for multiple-degree-of-freedom pattern recognition. The design of Fisher (1936) linear discriminant functions and synthetic discriminant function for use at the nodes of binary and multidecision nets is discussed. Case studies are detailed for two-class and multiclass problems. Simulation results demonstrate the robustness of the processors to quantization of the filter coefficients and to noise.
Casasent, David P.↗
Improved assumed-stress hybrid shell element with drilling degrees of freedom for linear stress, buckling, and free vibration analyses
An improved four-node quadrilateral assumed-stress hybrid shell element with drilling degrees of freedom is presented. The formulation is based on Hellinger-Reissner variational principle and the shape functions are formulated directly for the four-node element. The element has 12 membrane degrees of freedom and 12 bending degrees of freedom. It has nine independent stress parameters to describe the membrane stress resultant field and 13 independent stress parameters to describe the moment and transverse shear stress resultant field. The formulation encompasses linear stress, linear buckling, and linear free vibration problems. The element is validated with standard tests cases and is shown to be robust. Numerical results are presented for linear stress, buckling, and free vibration analyses.
Rengarajan, Govind↗
Six Degrees of Freedom Control with Each Hand?
For some time man has made six degree of freedom inputs to a pair of dextrous manipulators using both hands simultaneously by the use of the master/slave concept. The advent of the microprocessor has the potential to make the master/slave concept redundant by replacing the master with a mathematical model. All spacecraft to date, including the space shuttle, that were flown in six degrees of freedom were controlled by using both hands, the left hand controlling translation and the right rotation. Almost inevitably the same principle was applied to the CANADARM. At the instigation of NASA the development of a device whereby both translation and rotation could be combined allowing full control with one hand was developed. The development and testing of the device, and the extension of its application into spaceflight control are described. Also the concept of an adaptable workstation for multi-maniipulator and spacecraft flight control is discussed.
King, M. L.↗
Computer mechanization of reentry equations with four degrees of freedom
Computer mechanization of reentry equations with four degrees of freedom
Howe, R. M.↗
Analytical model of a five degree of freedom magnetic suspension and positioning system
An analytical model of a five degree of freedom magnetic suspension and positioning system is presented. The suspended element is a cylinder which is composed of permanent magnet material and the magnetic actuators are air core electromagnets mounted in a planar array. The analytical model consists of an open loop representation of the suspension and positioning system with electromagnet currents as inputs and displacements and rates in inertial coordinates as outputs. The uncontrolled degree of freedom is rotation about the long axis of the suspended cylinder.
Groom, Nelson J.↗
The electrostatic energy per degree of freedom of a two-temperature plasma.
Electrostatic energy per degree of freedom of two-temperature plasma examined for validity of resonant approximations in ion wave region
PLASMA WAVE↗
Precision Magnetic Bearing Six Degree of Freedom Stage
Magnetic bearings are capable of applying force and torque to a suspended object without rigidly constraining any degrees of freedom. Additionally, the resolution of magnetic bearings is limited only by sensors and control, and not by the finish of a bearing surface. For these reasons, magnetic bearings appear to be ideal for precision wafer positioning in lithography systems. To demonstrate this capability a linear magnetic bearing has been constructed which uses variable reluctance actuators to control the motion of a 14.5 kg suspended platen in five degrees of freedom. A Lorentz type linear motor of our own design and construction is used to provide motion and position control in the sixth degree of freedom. The stage performance results verify that the positioning requirements of photolithography can be met with a system of this type. This paper describes the design, control, and performance of the linear magnetic bearing.
Williams, M. E.↗
Six degree of freedom fine motion positioning stage based on magnetic levitation
The design of a magnetically suspended six degree of freedom positioning system capable of nanometer positioning is presented. The sample holder is controlled in six degrees of freedom (DOF) over 300 micrometers of travel in the X, Y, and Z directions. A design and control summary and test results indicating stability and power dissipation are included in the paper. The system is vacuum compatible, uses commercially available materials, and requires minimal assembly and setup.
Arling, R. W.↗
Control techniques for simultaneous three- degree-of-freedom hydraulic vibration system
Control techniques for simultaneous three degree of freedom hydraulic vibration system
Cyphers, H. D.↗
Design and development of a six degree of freedom hand controller
The design objectives of a six degree of freedom manual controller are discussed with emphasis on a space environment. Details covered include problems associated with a zero-g environment, the need to accommodate both 'shirt sleeve' and space suited astronauts, the combination of both manipulator operation and spacecraft flight control in a single device, and to accommodate restraints in space. A variable configuration device designed as a development tool in which rotational axes can be moved relative to one another, is described and its limitations discussed. Two additional devices were developed for concept testing. Each device combines the need for good quality with its ability achieve a wide range of adjustments.
King, M. L.↗
On single-degree-of-freedom flutter induced by activated controls
It is shown that activation of the trailing-edge control of an airfoil leads to single-degree-of-freedom type instabilities which span over a very wide region of reduced frequencies k, including high values of k (unlike the nonactivated system). These instabilities are shown to be sensitive to changes in pitching axis location, control deflection phase angle, and values of the reduced frequency. These sensitivities of the single-degree-of-freedom system cause the activated airfoil to be potentially sensitive to changes in flight conditions, and may be the source of the many difficulties encountered in suppressing classical multi-degree-of-freedom flutter by means of active controls. The results presented herein relate to zero Mach number and to a 20% trailing-edge control surface.
Nissim, E.↗
Analysis and design of a six-degree-of-freedom Stewart platform-based robotic wrist
The kinematic analysis and implementation of a six degree of freedom robotic wrist which is mounted to a general open-kinetic chain manipulator to serve as a restbed for studying precision robotic assembly in space is discussed. The wrist design is based on the Stewart Platform mechanism and consists mainly of two platforms and six linear actuators driven by DC motors. Position feedback is achieved by linear displacement transducers mounted along the actuators and force feedback is obtained by a 6 degree of freedom force sensor mounted between the gripper and the payload platform. The robot wrist inverse kinematics which computes the required actuator lengths corresponding to Cartesian variables has a closed-form solution. The forward kinematics is solved iteratively using the Newton-Ralphson method which simultaneously provides a modified Jacobian Matrix which relates length velocities to Cartesian translational velocities and time rates of change of roll-pitch-yaw angles. Results of computer simulation conducted to evaluate the efficiency of the forward kinematics and Modified Jacobian Matrix are discussed.
Nguyen, Charles C.↗