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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 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Optimal force distribution for payload positioning using a planar dual-arm robot

This paper presents a parameter optimization technique for deciding the force distribution on a payload being transported along a predetermined trajectory using two planar manipulator arms. The methodology begins by transforming the singular dynamics of two-arm transport to an ordinary set of differential equations and then proceeds to obtain a relation between the torques exerted by each arm. This relation is then used in a quadratic torque cost which is subsequently minimized to yield an optimal torque distribution. Significant savings in energy were found to occur when the arms were allowed to interact by transmission of forces through the payload. Even more significant are the savings found over one-arm transport of payloads where the arm torques are fixed by the prescribed trajectory.

Carignan, C. R.↗
NASA NTRS1987

Structural frequency functions for an impulsive, distributed forcing function

The response of a penetrator structure to a spatially distributed mechanical impulse with a magnitude approaching field test force levels (1-2 Mlb) were measured. The frequency response function calculated from the response to this unique forcing function is compared to frequency response functions calculated from response to point forces of about 2000 pounds. The results show that the strain gages installed on the penetrator case respond similiarly to a point, axial force and to a spatially distributed, axial force. This result suggests that the distributed axial force generated in a penetration event may be reconstructed as a point axial force when the penetrator behaves in linear manner.

Bateman, Vesta I.↗
NASA NTRS1956

Comparison of experimental and theoretical normal-force distributions (including Reynolds number effects) on an ogive-cylinder body at Mach number 1.98

Effects of Reynolds number and angle of attack on the pressure distribution and normal-force characteristics of a body of revolution consisting of a fineness ratio 3 ogival nose tangent to a cylindrical afterbody 7 diameters long have been determined. The test Mach number was 1.98 and the angle-of-attack range from 0 degree to 20 degrees. The Reynolds numbers, based on body diameter, were 0.15 x 10(6) and 0.45 x 10(6). The experimental results are compared with theory.

Perkins, Edward W↗
NASA NTRS1988

Effects of bearing offset and flexibility on the mesh force distribution of spiral bevel gears

For straight or spiral bevel gears of nominal spherical involute design, the resultant total force vector transmitted by the gear mesh, in the absence of friction, lies in the plane of tooth contact. This force vector can be characterized by three scalar components, two orthogonal force components lying in the plane of contact and the resultant moment taken about the nominal center of the zone of contact. Equations for these three generalized force components are derived. The equations are expressed in terms of tooth pair/gear body stiffnesses, bearing/bearing support flexibility influence coefficients, the shaft input torque, deviations of the tooth running surfaces from perfect spherical involute surfaces, and bearing centerline offsets from the positions occupied by the base cone axes of the perfect involute bevel gear counterparts to the actual gears under consideration. Inertial forces arising from transverse and axial vibrations of the gear bodies are assumed to be negligible in comparison with the bearing support reaction forces.

Mark, W. D.↗
NASA NTRS1925

Schutte-Lanz airship projects after the war

The stressing of an airship depends on three nonuniformly distributed forces: air forces; the distribution of acceleration forces; and how the air pressure is distributed on the hull. This report examines the stresses and comes to conclusions on the size of airships.

AIRSHIPS - RIGID↗
NASA NTRS1989

Comparison of joint space versus task force load distribution optimization for a multiarm manipulator system

It is often proposed that the redundancy in choosing a force distribution for multiple arms grasping a single object should be handled by minimizing a quadratic performance index. The performance index may be formulated in terms of joint torques or in terms of the Cartesian space force/torque applied to the body by the grippers. The former seeks to minimize power consumption while the latter minimizes body stresses. Because the cost functions are related to each other by a joint angle dependent transformation on the weight matrix, it might be argued that either method tends to reduce power consumption, but clearly the joint space minimization is optimal. A comparison of these two options is presented with consideration given to computational cost and power consumption. Simulation results using a two arm robot system are presented to show the savings realized by employing the joint space optimization. These savings are offset by additional complexity, computation time and in some cases processor power consumption.

Soloway, Donald I.↗
NASA NTRS1991

Measurements of Pressure Distributions and Force Coefficients in a Squeeze Film Damper. Part 1: Fully Open Ended Configuration

Measurements of pressure distributions and force coefficients were carried out in two types of squeeze film dampers, executing a circular centered orbit, an open-ended configuration, and a partially sealed one, in order to investigate the effect of fluid inertia and cavitation on pressure distributions and force coefficients. Dynamic pressure measurements were carried out for two orbit radii, epsilon 0.5 and 0.8. It was found that the partially sealed configuration was less influenced by fluid inertia than the open ended configuration.

Jung, S. Y.↗
NASA NTRS1986

Senstitivty analysis and optimization of nodal point placement for vibration reduction

A method is developed for sensitivity analysis and optimization of nodal point locations in connection with vibration reduction. A straightforward derivation of the expression for the derivative of nodal locations is given, and the role of the derivative in assessing design trends is demonstrated. An optimization process is developed which uses added lumped masses on the structure as design variables to move the node to a preselected location - for example, where low response amplitude is required or to a point which makes the mode shape nearly orthogonal to the force distribution, thereby minimizing the generalized force. The optimization formulation leads to values for added masses that adjust a nodal location while minimizing the total amount of added mass required to do so. As an example, the node of the second mode of a cantilever box beam is relocated to coincide with the centroid of a prescribed force distribution, thereby reducing the generalized force substantially without adding excessive mass. A comparison with an optimization formulation that directly minimizes the generalized force indicates that nodal placement gives essentially a minimum generalized force when the node is appropriately placed.

Pritchard, J. I.↗
NASA NTRS1987

Sensitivity derivatives and optimization of nodal point locations for vibration reduction

A method is developed for sensitivity analysis and optimization of nodal point locations in connection with vibration reduction. A straightforward derivation of the expression for the derivative of nodal locations is given, and the role of the derivative in assessing design trends is demonstrated. An optimization process is developed which uses added lumped masses on the structure as design variables to move the node to a preselected location; for example, where low response amplitude is required or to a point which makes the mode shape nearly orthogonal to the force distribution, thereby minimizing the generalized force. The optimization formulation leads to values for added masses that adjust a nodal location while minimizing the total amount of added mass required to do so. As an example, the node of the second mode of a cantilever box beam is relocated to coincide with the centroid of a prescribed force distribution, thereby reducing the generalized force substantially without adding excessive mass. A comparison with an optimization formulation that directly minimizes the generalized force indicates that nodal placement gives essentially a minimum generalized force when the node is appropriately placed.

Pritchard, Jocelyn I.↗
NASA NTRS1987

Sensitivity analysis and optimization of nodal point placement for vibration reduction

A method is developed for sensitivity analysis and optimization of nodal point locations in connection with vibration reduction. A straightforward derivation of the expression for the derivative of nodal locations is given, and the role of the derivative in assessing design trends is demonstrated. An optimization process is developed which uses added lumped masses on the structure as design variables to move the node to a preselected location - for example, where low response amplitude is required or to a point which makes the mode shape nearly orthogonal to the force distribution, thereby minimizing the generalized force. The optimization formulation leads to values for added masses that adjust a nodal location while minimizing the total amount of added mass required to do so. As an example, the node of the second mode of a cantilever box beam is relocated to coincide with the centroid of a prescribed force distribution, thereby reducing the generalized force substantially without adding excessive mass. A comparison with an optimization formulation that directly minimizes the generalized force indicates that nodal placement gives essentially a minimum generalized force when the node is appropriately placed.

Pritchard, J. I.↗
NASA NTRS1991

High Reliability Robot Friendly ORU Interface

Presented here is a robot friendly coupling device for an orbital replacement unit (ORU). The invention will provide a coupling that is detached and attached remotely by a robot. The design of the coupling must allow for slight misalignments, over-torque protection, and precision placement. This is accomplished by means of a triangular interface comprising three components. A base plate assembly is located on an attachment surface, such as a satellite. The base plate assembly has a cup member, a slotted member, and a post member. The ORU that the robot attaches to the base plate assembly has an ORU plate assembly with two cone members and a post member which mate to the base plate assembly. As the two plates approach one another, one cone member of the ORU plate assembly has to be placed accurately enough to fall into the cup member of the base plate assembly. The cup member forces alignment until a second cone falls into a slotted member which provides final alignment. A single bolt is used to attach the two plates. Two deflecting plates are attached to the backs of the plates. When pressure is applied to the center of the deflecting plates, the force is distributed preventing the ORU and base plates from deflecting. This accounts for precision in the placement of the article. The novelty is believed to reside in using deflecting plates in conjunction with kinematic mounts to provide distributed forces to the two members.

Voellmer, George M.↗
NASA NTRS2004

Compact Tactile Sensors for Robot Fingers

Compact transducer arrays that measure spatial distributions of force or pressure have been demonstrated as prototypes of tactile sensors to be mounted on fingers and palms of dexterous robot hands. The pressure- or force-distribution feedback provided by these sensors is essential for the further development and implementation of robot-control capabilities for humanlike grasping and manipulation.

Martin, Toby B.↗
NASA NTRS1938

Calculation of the chordwise load distribution over airfoil sections with plain, split, or serially hinged trailing-edge flaps

A method is presented for the rapid calculation of the incremental chordwise normal-force distribution over an airfoil section due to the deflection of a plain flap or tab, a split flap, or a serially hinged flap. This report is intended as a supplement to NACA Report no. 631, wherein a method is presented for the calculation of the chordwise normal-force distribution over an airfoil without a flap or, as it may be considered, an airfoil with flap (or flaps) neutral. The method enables the determination of the form and magnitude of the incremental normal-force distribution to be made for an airfoil-flap combination for which the section characteristics have been determined. A method is included for the calculation of the flap normal-force and hinge-moment coefficients without necessitating a determination of the normal-force distribution.

Allen, H Julian↗
NASA NTRS1939

A simplified method for the calculation of airfoil pressure distribution

A method is presented for the rapid calculation of the pressure distribution over an airfoil section when the normal-force distribution and the pressure distribution over the "base profile" (i.e., the profile of the same airfoil were the camber line straight and the resulting airfoil at zero angle of attack) are known. This note is intended as a supplement to N.A.C.A. Report Nos. 631 and 634 wherein methods are presented for the calculation of the normal-force distribution over plain and flapped airfoils, respectively, but not of the pressures on the individual surfaces. Base-profile pressure-coefficient distributions for the usual N.A.C.A. family of airfoils, which are also suitable for several other commonly employed airfoils, are included in tabular form. With these tabulated base-profile pressures and the computed normal-force distributions, pressure distributions adequate for most engineering purposes can be obtained.

Allen, H Julian↗