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Prosthetic hand attached to end of remaining part of forearm and to upper arm just above elbow. Pincerlike fingers pushed apart to degree depending on rotation of forearm. Simpler in design, simpler to operate, weighs less, and takes up less space.
A prosthetic device has been developed for below-the-elbow amputees. The device consists of a cuff, a stem, a housing, two hook-like fingers, an elastic band for holding the fingers together, and a brace. The fingers are pivotally mounted on a housing that is secured to the amputee's upper arm with the brace. The stem, which also contains a cam, is rotationally mounted within the housing and is secured to the cuff, which fits over the amputee's stump. By rotating the cammed stem between the fingers with the lower arm, the amputee can open and close the fingers.
A fluid coupling device and coupling system that may start and stop the flow of a fluid is disclosed. In some embodiments, first and second couplings are provided having an actuator coupled with each of the couplings. The couplings and actuators may be detachable to provide quick disconnect features and, in some embodiments, provide unitary actuation for the actuators of the coupling device to facilitate connection in mobile applications. Actuation may occur as the two couplings and actuators are engaged and disengaged and may occur by rotational actuation of the actuators. Rotational actuation can be provided to ensure flow through the coupling device, which in some embodiments may further provide an offset venturi feature. Upon disengagement, a compression element such as a compression spring can be provided to return the actuators to a closed position. Some embodiments further provide a seal external to the actuators and provided at incipient engagement of the couplings.
A quick-connect fastener of a relatively-simple straightforward design is arranged with a tubular body adapted to be engaged against an attachment fitting in coincidental alignment with an opening in that fitting. A tubular collet having flexible finger projecting from its forward end is arranged in the fastener body to be shifted forwardly by an elongated expander member coaxially arranged within the tubular collet for advancing the collet fingers into the opening in the attachment fitting. Biasing means are arranged between the elongated expander member and a rotatable actuator which is threadedly mounted within the tubular collet so as to be rotated for urging the expander member into engagement with the collet fingers. A first coupling member is arranged on the rotatable actuator to be accessible from outside of the fastener so that a second coupling member on the distal end of a flexible shaft can be introduced into the fastener body and coupled to the first coupling member to enable a typical actuating tool coupled to the shaft outside of the fastener body to be operated for advancing the outwardly-enlarged ends of the collet fingers into the opening in the attachment fitting and thereafter rotating the actuator member to expand the fingers to that attachment fitting. Upon expansion of the collet fingers, the biasing means impose a biasing force on the expander to releasably retain the fingers in their latching positions.
A quick-connect fastener of a relatively-simple straightforward design is arranged with a tubular body adapted to be engaged against an attachment fitting in coincidental alignment with an opening in that fitting. A tubular collet having flexible fingers projecting from its forward end is arranged in the fastener body to be shifted forwardly by an elongated expander member coaxially arranged within the tubular collet for advancing the collet fingers into the opening in the attachment fitting. Biasing means are arranged between the elongated expander member and a rotatable actuator which is threadedly mounted within the tubular collet so as to be rotated for urging the expander member into engagement with the collet fingers. A first coupling member is arranged on the rotatable actuator to be accessible from outside of the fastener so that a second coupling member on the distal end of a flexible shaft can be introduced into the fastener body and coupled to the first coupling member to enable a typical actuating tool coupled to the shaft outside of the fastener body to be operated for advancing the outwardly-enlarged ends of the collet fingers into the opening in the attachment fitting and thereafter rotating the actuator member to expand the fingers within the opening for releasably latching the fastener to that attachment fitting. Upon expansion of the collet fingers, the biasing means impose a biasing force on the expander to releasably retain the fingers in their latching positions.
Stably stratified atmospheric boundary layers are often characterized by a veering wind profile, in which the wind direction changes clockwise with height in the Northern Hemisphere. Wind-turbine wakes respond to this veer in the incoming wind by stretching from a circular shape into an ellipsoid. We investigate the relationship between this stretching and the direction of the turbine rotation by means of large-eddy simulations. Clockwise rotating, counterclockwise rotating, and non-rotating actuator disc turbines are embedded in wind fields of a precursor simulation with no wind veer and in wind fields with a Northern Hemispheric Ekman spiral, resulting in six combinations of rotor rotation and inflow wind condition. The wake strength, extension, width, and deflection depend on the interaction of the meridional component of Ekman spiral with the rotational direction of the actuator disc, whereas the direction of the disc rotation only marginally modifies the wake if no veer is present. The differences result from the amplification or weakening/reversion of the spanwise and the vertical wind components due to the effect of the superposed disc rotation. They are also present in the streamwise wind component of the wake and in the total turbulence intensity. In the case of an counterclockwise rotating actuator disc, the spanwise and vertical wind components increase directly behind the rotor, resulting in the same rotational direction in the whole wake while its strength decreases downwind. In the case of a clockwise rotating actuator disc, however, the spanwise and vertical wind components of the near wake are weakened or even reversed in comparison to the inflow. This weakening/reversion results in a downwind increase in the strength of the flow rotation in the wake or even a different rotational direction in the near wake in comparison to the far wake. The physical mechanism responsible for this difference can be explained by a simple linear superposition of a veering inflow with a Rankine vortex.
The mechanisms of the instrument pointing system (IPS) are described. Particular emphasis is placed on the actuators which are necessary for operating the IPS. The actuators are described as follows: (1) two linear actuators that clamp the gimbals down during ascent and descent; (2) two linear actuators that attach the payload to the IPS during the mission, and release it into the payload clamps; (3) one rotational actuator that opens and closes the payload clamps; and (4) three identical drive units that represent the three orthogonal gimbal axes and are the prime movers for pointing. Design features, manufacturing problems, test performance, and results are presented.
Conventional, grease-lubricated actuators for space mechanisms can achieve long life but must be heated above about 213 K, or -60 °C, to function in extremely cold environments. This paper first overviews a new NASA project that is developing two rotational actuators that can achieve long life without the need for supplemental heating. Then, the impacts of heating conventional, grease-lubricated actuators are studied for operation in a lunar permanently shadowed region. To facilitate the assessment, a novel total efficiency metric is introduced that relates the average power output to the average total power input (i.e., the power to heat plus the power to actuate/rotate). The assessment employs a thermal analysis of the energy required to heat an actuator from a survival temperature of 30 K to 213 K as well as the power required to subsequently maintain 213 K while in an operational state. Two concepts of actuator operation are considered that separately highlight the impacts of warmup heating energy and maintenance heater power. It is shown that in practical situations, the perceived efficiency of an actuator with 100% conventional operating efficiency can reach 10% or lower, particularly when the actuator has a high emissivity and is operated at lower duty cycles for durations less than 10 hours. Other impacts are presented along with a method of mitigating the impacts in some applications.
Conventional, grease-lubricated actuators for space mechanisms can achieve long life but must be heated above about 213 K, or -60 °C, to function in extremely cold environments. This paper first overviews a new NASA project that is developing two rotational actuators that can achieve long life without the need for supplemental heating. Then, the impacts of heating conventional, grease-lubricated actuators are studied for operation in a lunar permanently shadowed region. To facilitate the assessment, a novel total efficiency metric is introduced that relates the average power output to the average total power input (i.e., the power to heat plus the power to actuate/rotate). The assessment employs a thermal analysis of the energy required to heat an actuator from a survival temperature of 30 K to 213 K as well as the power required to subsequently maintain 213 K while in an operational state. Two concepts of actuator operation are considered that separately highlight the impacts of warmup heating energy and maintenance heater power. It is shown that in practical situations, the perceived efficiency of an actuator with 100% conventional operating efficiency can reach 10% or lower, particularly when the actuator has a high emissivity and is operated at lower duty cycles for durations less than 10 hours. Other impacts are presented along with a method of mitigating the impacts in some applications.
In-space assembly is crucial to creating large-scale space structures and enabling long term space missions. Natural limitations in the size of transportation vehicles and ISRU production facilities necessitate an additive strategy with the size of the typical structural unit being essentially fixed and inversely proportional to the final assembly size. In prior robotic and space assembly examples, reversible mechanical integration of structural modules is typically achieved with actuated alignment and fastening mechanisms onboard every structural module. Additive assembly or manufacturing planning approaches often feature a “build front” that receives new materials or parts and progresses gradually across the target geometry. The system we describe here places much of the alignment and fastener actuation systems onboard a mobile robot that can operate at a build front while companion robots (Scaling Omni-directional Lattice Locomoting Explorer, SOLLE) provide part or material transportation. The design and evaluation of this Mobile Meta-Material Interior Co-Integrator (MMIC-I), an inchworm-style locomoting robotic assembler, is described here with an emphasis on ease of assembly and a low number of unique parts for a simple design. It is designed to assist in alignment of cuboctahedron structural unit cells with captive fasteners, defining the build front in operation. Adjacent structural unit cells are locked together with specified axial and rotational actuation of the fasteners. Hardware prototypes show that the robot is able to successfully locomote to any indexed location within a lattice structure and bolt together each set of fasteners on any interface.
Abstract We study wind turbine wakes of rotors operating at high thrust coefficients ( C T > 24/25) using large‐eddy simulations with a rotating actuator disk model. Wind turbine wakes at high thrust coefficients are different from wakes at low thrust coefficients. Wakes behave differently at high thrust, with increased turbulence and faster recovery. Lower induction in the wake is achieved because wakes in high‐thrust conditions recover much faster than in normal operating conditions. This enhanced recovery is possible thanks to the turbulence generated in the near wake. We explore the mechanism behind this behavior and propose a simple model to reproduce it. We also propose a Gaussian fit for the wakes under high‐thrust conditions and use it use it to initialize an Ainslie type model within the FAST.Farm framework.
All current-day wind-turbine blades rotate in clockwise direction as seen from an upstream perspective. The choice of the rotational direction impacts the wake if the wind profile changes direction with height. Here, we investigate the respective wakes for veering and backing winds in both hemispheres by means of large-eddy simulations. We quantify the sensitivity of the wake to the strength of the wind veer, the wind speed, and the rotational frequency of the rotor in the Northern Hemisphere. A veering wind in combination with counterclockwise-rotating blades results in a larger streamwise velocity output, a larger spanwise wake width, and a larger wake deflection angle at the same downwind distance in comparison to a clockwise-rotating turbine in the Northern Hemisphere. In the Southern Hemisphere, the same wake characteristics occur if the turbine rotates counterclockwise. These downwind differences in the wake result from the amplification or weakening or reversion of the spanwise wind component due to the effect of the superimposed vortex of the rotor rotation on the inflow's shear. An increase in the directional shear or the rotational frequency of the rotor under veering wind conditions increases the difference in the spanwise wake width and the wake deflection angle between clockwise- and counterclockwise-rotating actuators, whereas the wind speed lacks a significant impact.
Rotor and propeller performance and induced potential flowfields were studied on the basis of a rotating actuator disk concept, with special emphasis on rotors hovering out of ground effect. A new theory for the optimum performance of rotors hovering OGE is developed and presented. An extended theory for the optimum performance of rotors and propellers in axial motion is also presented. Numerical results are presented for the optimum distributions of blade-bound circulation together with axial inflow and ultimate wake velocities for the hovering rotor over the range of thrust coefficient of interest in rotorcraft applications. Shapes of the stream tubes and of the velocities in the slipstream are obtained, using available methods, for optimum and off-optimum circulation distributions for rotors hovering in and out of ground effect. A number of explicit formulae useful in computing rotor and propeller induced flows are presented for stream functions and velocities due to distributions of circular vortices over axi-symmetric surfaces.
A tunable birefringent filter using an alternate partial polarizer design has been built. The filter has a transmission of 38% in polarized light. Its full width at half maximum is .09A at 5500A. It is tunable from 4500 to 8500A by means of stepping motor actuated rotating half wave plates and polarizers. Wave length commands and thermal compensation commands are generated by a PPD 11/10 minicomputer. The alternate partial polarizer universal filter is compared with the universal birefringent filter and the design techniques, construction methods, and filter performance are discussed in some detail. Based on the experience of this filter some conclusions regarding the future of birefringent filters are elaborated.
Two position rotary actuator rotates shaft by precisely 180 deg and rotates it back on command. Mechanism consumes 11 watts of power and functions over wide range of temperatures under high vacuum for long unattended periods. Light weight device may be used to flip magnetometer for calibration in magnetic field.
This paper describes the two actuators developed for pointing the remote science instruments from the spinning Galileo spacecraft. Details of the key elements are presented together with their design features and developmental difficulties. Four techniques used for power and signal transfer across the actuators' rotating joints are also discussed.
Report discusses theory of rotating unbalanced-mass (RUM) actuators and describes experiments to test concept of using RUM actuators for mechanical scanning of scientific instruments in linear, circular, or raster patterns.
A hydraulic actuator is described which consists of a pump, a hydraulic servo-valve, and a thin elastic plate which transduces the generated pressure variations into forces acting on a mass which simulates the bearing of a rotor system. An actuator characteristic number is defined to provide a base for an optimum design of force actuators with combined weight, frequency, and force considerations. This characteristic number may also be used to compare hydraulic and electromagnetic force actuators. In tests, this actuator generated 182.3 Newton force at a frequency of 100 Hz and a displacement amplitude of 5.8 x 10 exp -5 meter.