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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 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS1984

Geometric modeling of large space antenna deployment

A dynamic visualization of large antenna deployment was created to be used as a precursor to further analysis of the structure as it is being deployed. The configuration chosen for this investigation was a box-truss structure consisting of a large reflector 60 meters wide by 120 meters long with a 120-meter mast. The entire space structure is folded and compressed into a container 17.8 meters long by 3.75 meters in diameter for transportation to orbit by the Space Transportation System (STS). A geometric model of this structure was created using an interactive solid modeling package. The building blocks of the structure are boxes and cylinders which are put together to form elements connected by joints and hinges. The elements, joints, and hinges make up the box-truss structure. The geometric model was then passed to the MOVIE.BYU software package. The "utility" module of this program was used to manipulate the elements of the structure to represent 13 different stages of deployment. The "animate" command was then used to create a smooth sequence between stages. Each step in the sequence was recorded on magnetic tape and a short movie was produced.

Nazemetz, J.↗
NASA NTRS1985

Frequency domain solutions to multi-degree-of-freedom, dry friction damped systems under periodic excitation

The anticipated low damping level in large space structures (LSS) has been a major concern for the designers of these structures. Low damping degrades the free response and complicates the design of shape and attitude controllers for flexible spacecraft. Dry friction damping has been considered as a means of increasing the passive damping of LSS, by placing it in the joints and connecting junctures of structures. However, dry friction is highly nonlinear and, hence, analytical investigations are difficult to perform. Here, a multi-harmonic, frequency domain solution technique is developed and applied to a multi-DOF, dry friction damped system. It is seen that the multi-harmonic method is much more accurate than traditional, one harmonic solution methods. The method also compares well with time integration. Finally, comparisons are made with experimental results.

Ferri, A. A.↗
NASA NTRS1986

A procedure for calculating the damping in multi-element space structures

A procedure for analyzing the damping in a multielement space structure connected by joints is described, in which distributed material damping and discrete nonlinear joint properties are incorporated into a linear analysis. The procedure involves four steps: (1) creation of a linear undamped finite element model; (2) experimental measurements of the transient response of a truss member in free fall tests to obtain material damping properties; with these properties incorporated into a linear damped finite element model of the structure; (3) the identification of the nonlinear joint properties using the force-state mapping technique; and (4) linearization of the identified nonlinear components, which are then incorporated into the linear damped model to create the linearized damped finite element model.

Crawley, E. F.↗
NASA NTRS1992

Recursive Filtering And Smoothing In Robot Dynamics

Techniques developed originally for electronic systems also useful for multibody mechanical systems. Report summarizes methods developed to solve nonlinear forward-dynamics problem for robot of multiple-link arms connected by joints. Primary objective to show equivalence between recursive methods of dynamical analysis and some filtering and smoothing techniques from state-estimation theory.

Rodriguez, Guillermo↗
NASA NTRS1993

Spiral Flow Separator

Proposed liquid-separating device relies on centrifugal force in liquid/liquid or liquid/solid mixture in spiral path. Operates in continuous flow at relatively high rates. Spiral tubes joined in sequence, with outlet tubes connected to joints. Cross-sectional areas of successive spiral tubes decreases by cross-sectional areas of outlet tubes. Centrifugal force pushes denser particles or liquids to outer edge of spiral, where removed from flow. Principle exploited to separate solids from wastewater, oil from fresh or salt water, or contaminants from salt water before evaporation. Also used to extract such valuable materials as precious metals from slurries.

Robertson, Glen A.↗
NASA NTRS1940

Buckling Tests with a Spar-rib Grill

The present report deals with a comparison of mathematically and experimentally defined buckling loads of a spar-rib grill, on the assumption of constant spar section, and infinitely closely spaced ribs with rigidity symmetrical to the grill center. The loads are applied as equal bending moments at both spar ends, as compression in the line connecting the joints, and in the spar center line as the assumedly uniformly distributed spar weight.

Weinhold, Josef↗
NASA NTRS2009

Application of CFE/POST2 for Simulation of Launch Vehicle Stage Separation

The constraint force equation (CFE) methodology provides a framework for modeling constraint forces and moments acting at joints that connect multiple vehicles. With implementation in Program to Optimize Simulated Trajectories II (POST 2), the CFE provides a capability to simulate end-to-end trajectories of launch vehicles, including stage separation. In this paper, the CFE/POST2 methodology is applied to the Shuttle-SRB separation problem as a test and validation case. The CFE/POST2 results are compared with STS-1 flight test data.

Pamadi, Bandu N.↗
NASA NTRS2012

End-To-End Simulation of Launch Vehicle Trajectories Including Stage Separation Dynamics

The development of methodologies, techniques, and tools for analysis and simulation of stage separation dynamics is critically needed for successful design and operation of multistage reusable launch vehicles. As a part of this activity, the Constraint Force Equation (CFE) methodology was developed and implemented in the Program to Optimize Simulated Trajectories II (POST2). The objective of this paper is to demonstrate the capability of POST2/CFE to simulate a complete end-to-end mission. The vehicle configuration selected was the Two-Stage-To-Orbit (TSTO) Langley Glide Back Booster (LGBB) bimese configuration, an in-house concept consisting of a reusable booster and an orbiter having identical outer mold lines. The proximity and isolated aerodynamic databases used for the simulation were assembled using wind-tunnel test data for this vehicle. POST2/CFE simulation results are presented for the entire mission, from lift-off, through stage separation, orbiter ascent to orbit, and booster glide back to the launch site. Additionally, POST2/CFE stage separation simulation results are compared with results from industry standard commercial software used for solving dynamics problems involving multiple bodies connected by joints.

Albertson, Cindy W.↗
NASA NTRS2015

An Efficient Solution Method for Multibody Systems with Loops Using Multiple Processors

This paper describes a multibody dynamics algorithm formulated for parallel implementation on multiprocessor computing platforms using the divide-and-conquer approach. The system of interest is a general topology of rigid and elastic articulated bodies with or without loops. The algorithm divides the multibody system into a number of smaller sets of bodies in chain or tree structures, called "branches" at convenient joints called "connection points", and uses an Order-N (O (N)) approach to formulate the dynamics of each branch in terms of the unknown spatial connection forces. The equations of motion for the branches, leaving the connection forces as unknowns, are implemented in separate processors in parallel for computational efficiency, and the equations for all the unknown connection forces are synthesized and solved in one or several processors. The performances of two implementations of this divide-and-conquer algorithm in multiple processors are compared with an existing method implemented on a single processor.

Multibody dynamics↗
NASA NTRSDate not supplied

Ground-Based Cryogenic Leak Test of Fittings for Cryogenic Fluid Management

Mechanically connected fluid joints are virtually unavoidable in complex cryogenic system designs. In the case of spacecraft, the performance of these joints is critical to mission success. This is especially true for long-duration space missions where even very low leak rates can eventually lead to significant propellant losses or failure of vital cryogenic cooling systems. NASA has recently undertaken an effort to quantify the leak rate of Vacuum Coupling Radiation (VCR) fittings over the temperature range from ambient to 20 K, both before and after exposure to a launch vibration profile. A test apparatus employing a cryocooler and a calibrated helium mass spectrometer was developed, validated, and used to obtain quantifiable leak rates at a fitting test pressure of 31 bar (450 psig). Three different fitting sizes were tested, 25.4 mm (¼ inch), 12.7 mm (½ inch), and 6.35 mm (1 inch) and two gasket materials, stainless steel, and silver-plated nickel. Each fitting configuration (size/seal material) was subjected to two consecutive cryogenic thermal cycles/measurement tests, followed by a launch vibration test profile at ambient temperature, and then two additional cryogenic thermal cycles/measurement tests. The design and development of the test apparatus, and test data are presented and discussed in detail.

G J Tamasy↗
NASA NTRS1980

Secondary mirror subassembly in the 2.4 m NASA optical telescope

The secondary mirror is a circular disc provided with a shoulder. Three clamps located 120 deg apart support the mirror shoulder. On one side of the mirror shoulder, a coated graphite-epoxy ring connects the three clamps. Three axial flexures with a low radial compliance extend out from a support platform constructed of coated graphite-epoxy box structs and invar corners, and provide a nominal in-plane zero coefficient of thermal expansion. In each invar corner piece, a ball joint provides a connection to a expansion. In each invar corner piece, a ball joint provides a connection to a six-degree-of-freedom adjustment system that can move the secondary mirror with a high degree of precision in defocus, decenter, and tilt. Thermal controls that maintain structural-element temperature variations within specified limits insure that the assembly exceeds stability and figure control requirements on the secondary mirror.

Ahmed, N.↗
NASA NTRS1998

Three Degree of Freedom Parallel Mechanical Linkage

A three degree of freedom parallel mechanism or linkage that couples three degree of freedom translational displacements at an endpoint, such as a handle, a hand grip, or a robot tool, to link rotations about three axes that are fixed with respect to a common base or ground link. The mechanism includes a three degree of freedom spherical linkage formed of two closed loops, and a planar linkage connected to the endpoint. The closed loops are rotatably interconnected, and made of eight rigid links connected by a plurality of single degree of freedom revolute joints. Three of these revolute joints are base joints and are connected to a common ground. such that the axis lines passing through the revolute joints intersect at a common fixed center point K forming the center of a spherical work volume in which the endpoint is capable of moving. 'Me three degrees of freedom correspond to the spatial displacement of the endpoint, for instance. The mechanism provides a new overall spatial kinematic linkage composed of a minimal number of rigid links and rotary joints. The mechanism has improved mechanical stiffness, and conveys mechanical power bidirectionally between the human operator and the electromechanical actuators. It does not require gears, belts. cable, screw or other types of transmission elements, and is useful in applications requiring full backdrivability. Thus, this invention can serve as the mechanical linkage for actively powered devices such as compliant robotic manipulators and force-reflecting hand controllers, and passive devices such as manual input devices for computers and other systems.

Adelstein, Bernard D.↗
NASA NTRS2008

Verification of a Constraint Force Equation Methodology for Modeling Multi-Body Stage Separation

This paper discusses the verification of the Constraint Force Equation (CFE) methodology and its implementation in the Program to Optimize Simulated Trajectories II (POST2) for multibody separation problems using three specially designed test cases. The first test case involves two rigid bodies connected by a fixed joint; the second case involves two rigid bodies connected with a universal joint; and the third test case is that of Mach 7 separation of the Hyper-X vehicle. For the first two cases, the POST2/CFE solutions compared well with those obtained using industry standard benchmark codes, namely AUTOLEV and ADAMS. For the Hyper-X case, the POST2/CFE solutions were in reasonable agreement with the flight test data. The CFE implementation in POST2 facilitates the analysis and simulation of stage separation as an integral part of POST2 for seamless end-to-end simulations of launch vehicle trajectories.

Tartabini, Paul V.↗
NASA NTRS2011

Modeling Multibody Stage Separation Dynamics Using Constraint Force Equation Methodology

This paper discusses the application of the constraint force equation methodology and its implementation for multibody separation problems using three specially designed test cases. The first test case involves two rigid bodies connected by a fixed joint, the second case involves two rigid bodies connected with a universal joint, and the third test case is that of Mach 7 separation of the X-43A vehicle. For the first two cases, the solutions obtained using the constraint force equation method compare well with those obtained using industry- standard benchmark codes. For the X-43A case, the constraint force equation solutions show reasonable agreement with the flight-test data. Use of the constraint force equation method facilitates the analysis of stage separation in end-to-end simulations of launch vehicle trajectories

Tartabini, Paul V.↗
NASA NTRS2010

Steerable Hopping Six-Legged Robot

The figure depicts selected aspects of a six-legged robot that moves by hopping and that can be steered in the sense that it can be launched into a hop in a controllable direction. This is a prototype of hopping robots being developed for use in scientific exploration of rough terrain on remote planets that have surface gravitation less than that of Earth. Hopping robots could also be used on Earth, albeit at diminished hopping distances associated with the greater Earth gravitation. The upper end of each leg is connected through two universal joints to an upper and a lower hexagonal frame, such that the tilt of the leg depends on the relative position of the two frames. Two non-back-driveable worm-gear motor drives are used to control the relative position of the two frames along two axes 120 apart, thereby controlling the common tilt of all six legs and thereby, further, controlling the direction of hopping. Each leg includes an upper and a lower aluminum frame segment with a joint between them. A fiberglass spring, connected via hinges to both segments, is used to store hopping energy prior to launch into a hop and to cushion the landing at the end of the hop. A cable for loading the spring is run into each leg through the center of the universal joints and then down along the center lines of the segments to the lower end of the leg. A central spool actuated by a motor with a harmonic drive and an electromagnetic clutch winds in all six cables to compress all six springs (thereby also flexing all six legs) simultaneously. To ensure that all the legs push off and land in the same direction, timing- belt pulley drives are attached to the leg segments, restricting the flexing and extension of all six legs to a common linear motion. In preparation for a hop, the spool can be driven to load the spring legs by an amount corresponding to a desired hop distance within range. The amount of compression can be computed from the reading of a shaft-angle encoder that indicates the amount by which the spool has been turned. When the robot is ready to hop, the electromagnetic clutch disengages the motor from the spool, thus releasing the cable restraints on the springs and allowing the springs to extend all six legs simultaneously.

Younse, Paulo↗
NASA NTRS1994

Adjustable bias column end joint assembly

An adjustable mechanical end joint system for connecting structural column elements and eliminating the possibility of free movement between joint halves during loading or vibration has a node joint body having a cylindrical engaging end and a column end body having a cylindrical engaging end. The column end joint body has a compressible preload mechanism and plunger means housed therein. The compressible preload mechanism may be adjusted from the exterior of the column end joint body through a port.

Wallsom, Richard E.↗
NASA NTRS1987

A universal six-joint robot controller

A general purpose six-axis robotic manipulator controller was designed and implemented to serve as a research tool for the investigation of the practical and theoretical aspects of various control strategies in robotics. A 80286-based Intel System 310 running the Xenix operating servo software as well as the higher level software (e.g., kinematics and path planning) were employed. A Multibus compatible interface board was designed and constructed to handle I/O signals from the robot manipulator's joint motors. From the design point of view, the universal controller is capable of driving robot manipulators equipped with D.C. joint motors and position optical encoders. To test its functionality, the controller is connected to the joint motor D.C. power amplifier of a PUMA 560 arm bypassing completely the manufacturer-supplied Unimation controller. A controller algorithm consisting of local PD control laws was written and installed into the Xenix operating system. Additional software drivers were implemented to allow application programs access to the interface board. All software was written in the C language.

Bihn, D. G.↗
NASA NTRS1993

Force reflecting hand controller

A universal input device for interfacing a human operator with a slave machine such as a robot or the like includes a plurality of serially connected mechanical links extending from a base. A handgrip is connected to the mechanical links distal from the base such that a human operator may grasp the handgrip and control the position thereof relative to the base through the mechanical links. A plurality of rotary joints is arranged to connect the mechanical links together to provide at least three translational degrees of freedom and at least three rotational degrees of freedom of motion of the handgrip relative to the base. A cable and pulley assembly for each joint is connected to a corresponding motor for transmitting forces from the slave machine to the handgrip to provide kinesthetic feedback to the operator and for producing control signals that may be transmitted from the handgrip to the slave machine. The device gives excellent kinesthetic feedback, high-fidelity force/torque feedback, a kinematically simple structure, mechanically decoupled motion in all six degrees of freedom, and zero backlash. The device also has a much larger work envelope, greater stiffness and responsiveness, smaller stowage volume, and better overlap of the human operator's range of motion than previous designs.

Mcaffee, Douglas A.↗