Search NASA⌕ Search

SEARCH · Search NASA

Results for “joint connections”

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.

At least 91 records · Page 5
All sourcesNASA NTRSDOE OSTI
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.↗
DOE OSTI2023

Modular anti-rotation drilling systems and methods

A modular anti-rotation device for preventing rotation with respect to the central axis of a drilling tool in a borehole and for producing a notch in a borehole surface. The anti-rotation device includes an upper fixture portion and a lower fixture portion in axial alignment. The upper fixture portion and the lower fixture portion are connected by yoke assemblies. Each yoke assembly is connected to the fixture portion and fixture portion at one end, and forming an articulated joint of the upper yoke assembly and the lower yoke assembly at a distal end opposite the first end. A roller is connected at each joint, connecting the upper and lower yoke assemblies. The rollers engage vertically with a borehole surface, the rollers travelling axially, as a drill shaft penetrates into the borehole, the rollers simultaneously preventing radial movement of the anti-rotation device and prevent rotation with respect to the central axis of the borehole.

Su, Jiann-Cherng↗
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.↗
NASA NTRS1923

"AM" flexible metal joint

A flexible metal joint used for connecting fuel lines is investigated and methods for assembly are included.

JOINTS - A M↗
NASA NTRS1990

Artificial dexterous hand

An artificial dexterous hand is provided for conformally engaging and manipulating objects. The hand includes an articulated digit which is connected to an engagement sub-assembly and has a first shape adaption mechanism associated with it. The digit has a digit base and first and second phalanges. The digit base is operatively interconnected to the first phalange by a base joint having a base pulley. The phalanges are operatively interconnected by a separate first phalange joint having a first phalange pulley. The engagement sub-assembly includes a tendon, which is received by the base pulley and by the first phalange pulley, and an actuation device for selectively tensioning the tendon. The first shape adaption mechanism is responsive to and receives the tendon. It is also situated between the base joint and the first phalange joint and is connected to the first phalange. Upon actuation by the actuation device, the phalanges are caused to pivot relative to the base joint and the second phalange is caused to pivot relative to the first phalange. At the same time, the first shape adaption mechanism controls the sequence of the aforementioned pivoting of the phalanges through application of braking force to the tendon.

Lee, Sukhan↗
NASA NTRS1990

Experimental determination of satellite bolted joints thermal resistance

The thermal resistance was experimentally determined of the bolted joints of the first Brazilian satellite (SCD 01). These joints, used to connect the satellite structural panels, are reproduced in an experimental apparatus, keeping, as much as possible, the actual dimensions and materials. A controlled amount of heat is forced to pass through the joint and the difference of temperature between the panels is measured. The tests are conducted in a vacuum chamber with liquid nitrogen cooled walls, that simulates the space environment. Experimental procedures are used to avoid much heat losses, which are carefully calculated. Important observations about the behavior of the joint thermal resistance with the variation of the mean temperature are made.

Mantelli, Marcia Barbosa Henriques↗
NASA NTRS2006

Tilt/Tip/Piston Manipulator with Base-Mounted Actuators

A proposed three-degree-of-freedom (tilt/tip/piston) manipulator, suitable for aligning an optical or mechanical component, would offer several advantages over prior such manipulators: Unlike in some other manipulators, no actuator would support the weight of another actuator: All of the actuators would be mounted on a base. Hence, there would be less manipulated weight. The basic geometry of the manipulator would afford mechanical advantage: that is, actuator motions would be larger than the motions they produce in the manipulated object. Mechanical advantage inherently increases the accuracy and resolution of manipulation. Unlike in some other manipulators, it would not be necessary to route power and/or data lines through manipulator joints. The proposed manipulator (see figure) would include three prismatic actuators (T1N1, T2N2, and T3N3) mounted on the base and operating in the same plane. Examples of suitable prismatic actuators include lead-screw mechanisms, linear hydraulic motors, piezoelectric linear drives, inchworm-movement linear stepping motors, and linear flexure drives. The actuators would control the lengths of links R1T1, R2T2, and R3T3. Three spherical joints (P1, P2, and P3) would be located at the corners of an equilateral triangle of side length q on the platform holding the object to be manipulated. Three inextensible limbs (R1P1, R2P2, and R3P3) having length r would connect the spherical joints on the platform to revolute joints (R1, R2, and R3) at the ends of the actuator-controlled links R1T1, R2T2, and R3T3. By varying the lengths of these links, one could control the tilt, tip, and piston coordinates of the platform. Closed-form equations for direct or forward kinematics of the manipulator (given the lengths of the variable links, find the tilt, tip, and piston coordinates) have been derived. The equations of inverse kinematics (find the variable link lengths needed to obtain the desired tilt, tip, and piston coordinates) have also been derived.

Tahmasebi, Farhad↗
NASA NTRS1985

Self-locking mechanical center joint

A device for connecting, rotating and locking together a pair of structural half columns is described. The device is composed of an identical pair of cylindrical hub assemblies connected at their inner faces by a spring loaded hinge; each hub assembly having a structural half column attached to its outer end. Each hub assembly has a spring loading locking ring member movably attached adjacent to its inner face and includes a latch member for holding the locking ring in a rotated position subject to the force of its spring. Each hub assembly also has a hammer member for releasing the latch on the opposing hub assembly when the hub assemblies are rotated together. The spring loaded hinge connecting the hub assemblies rotates the hub assemblies and attached structural half columns together bringing the inner faces of the opposing hub assemblies into contact with one another.

Bush, H. G.↗
DOE OSTI2025

CD206 + Trem2 + macrophage accumulation in the murine knee joint after injury is associated with protection against post-traumatic osteoarthritis in MRL/MpJ mice

Post-traumatic osteoarthritis (PTOA) is a painful joint disease characterized by the degradation of bone, cartilage, and other connective tissues in the joint. PTOA is initiated by trauma to joint-stabilizing tissues, such as the anterior cruciate ligament, medial meniscus, or by intra-articular fractures. In humans, ~50% of joint injuries progress to PTOA, while the rest spontaneously resolve. To better understand molecular programs contributing to PTOA development or resolution, we examined injury-induced fluctuations in immune cell populations and transcriptional shifts by single-cell RNA sequencing of synovial joints in PTOA-susceptible C57BL/6J (B6) and PTOA-resistant MRL/MpJ (MRL) mice. We identified significant differences in monocyte and macrophage subpopulations between MRL and B6 joints. A potent myeloid-driven anti-inflammatory response was observed in MRL injured joints that significantly contrasted the pro-inflammatory signaling seen in B6 joints. Multiple CD206 + macrophage populations classically described as M2 were found enriched in MRL injured joints. These CD206 + macrophages also robustly expressed Trem2 , a receptor involved in inflammation and myeloid cell activation. These data suggest that the PTOA resistant MRL mouse strain displays an enhanced capacity of clearing debris and apoptotic cells induced by inflammation after injury due to an increase in activated M2 macrophages within the synovial tissue and joint space.

60 APPLIED LIFE SCIENCES↗