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  • 1
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    Design and simulation of EVA tools and robot end effectors for servicing missions of the HST (1995)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The Hubble Space Telescope (HST) was launched into near-earth orbit by the Space Shuttle Discovery on April 24, 1990. The payload of two cameras, two spectrographs, and a high-speed photometer is supplemented by three fine-guidance sensors that can be used for astronomy as well as for star tracking. A widely reported spherical aberration in the primary mirror causes HST to produce images of much lower quality than intended. A Space Shuttle repair mission in January 1994 installed small corrective mirrors that restored the full intended optical capability of the HST. A Second Servicing Mission (SM2) scheduled in 1997 will involve considerable Extra Vehicular Activity (EVA). To reduce EVA time, the addition of robotic capability in the remaining servicing missions has been proposed. Toward that end, two concept designs for a general purpose end effector for robots are presented in this report.
    Keywords: INSTRUMENTATION AND PHOTOGRAPHY
    Type: NASA-CR-199513 , NAS 1.26:199513 , ME/ES-95-1
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 2
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    Magnetostrictive direct drive motor (1991)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: Highly magnetostrictive materials such as Tb.3Dy.7Fe2, commercially known as TERFENOL-D, have been used to date in a variety of devices such as high power actuators and linear motors. The larger magnetostriction available in twinned single crystal TERFENOL-D, approx. 2000 ppm at moderate magnetic field strengths, makes possible a new generation of magnetomechanical devices. NASA researchers are studying the potential of this material as the basis for a direct microstepping rotary motor with torque densities on the order of industrial hydraulics and five times greater than that of the most efficient, high power electric motors. Such a motor would be a micro-radian stepper, capable of precision movements and self-braking in the power-off state. Innovative mechanical engineering techniques are juxtaposed on proper magnetic circuit design to reduce losses in structural flexures, inertias, thermal expansions, eddy currents, and magneto-mechanical coupling, thus optimizing motor performance and efficiency. Mathematical models are presented, including magnetic, structural, and both linear and nonlinear dynamic calculations and simulations. In addition, test results on prototypes are presented.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-188006 , TR-91-2 , NAS 1.26:188006
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 3
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    Magnetostrictive direct drive motors (1992)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: A new rare earth alloy, Terfenol-D, combines low frequency operation and extremely high energy density with high magnetostriction. Its material properties make it suitable as a drive element for actuators requiring high output torque. The high strains, the high forces and the high controllability of Terfenol alloys provide a powerful and challenging basis for new ways to generate motion in actuators. Two prototypes of motors using Terfenol-D rods were developed at NASA Goddard. The basic principles of operation are provided of the motor along with other relevant details. A conceptual design of a torque limiting safety clutch/brake under development is illustrated. Also, preliminary design drawings of a linear actuator using Terfenol-D is shown.
    Keywords: ELECTRONICS AND ELECTRICAL ENGINEERING
    Type: NASA-CR-190451 , NAS 1.26:190451 , TR-ME/ES-92-2
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 4
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    Design of an auto change mechanism and intelligent gripper for the space station (1989)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: Robot gripping of objects in space is inherently demanding and dangerous and nowhere is this more clearly reflected than in the design of the robot gripper. An object which escapes the gripper in a micro g environment is launched not dropped. To prevent this, the gripper must have sensors and signal processing to determine that the object is properly grasped, e.g., grip points and gripping forces and, if not, to provide information to the robot to enable closed loop corrections to be made. The sensors and sensor strategies employed in the NASA/GSFC Split-Rail Parallel Gripper are described. Objectives and requirements are given followed by the design of the sensor suite, sensor fusion techniques and supporting algorithms.
    Keywords: SPACECRAFT DESIGN, TESTING AND PERFORMANCE
    Type: NASA-CR-185387 , NAS 1.26:185387
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 5
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    Design and simulation of EVA tools for first servicing mission of HST (1994)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: The Hubble Space Telescope (HST) was launched into near-earth orbit by the Space Shuttle Discovery on April 24, 1990. The payload of two cameras, two spectrographs, and a high-speed photometer is supplemented by three fine-guidance sensors that can be used for astronomy as well as for star tracking. A widely reported spherical aberration in the primary mirror causes HST to produce images of much lower quality than intended. A Space Shuttle repair mission in January 1994 installed small corrective mirrors that restored the full intended optical capability of the HST. The First Servicing Mission (FSM) involved considerable Extra Vehicular Activity (EVA). Special EVA tools for the FSM were designed and developed for this specific purpose. In an earlier report, the details of the Data Acquisition System developed to test the performance of the various EVA tools in ambient as well as simulated space environment were presented. The general schematic of the test setup is reproduced in this report for continuity. Although the data acquisition system was used extensively to test a number of fasteners, only the results of one test each carried on various fasteners and the Power Ratchet Tool are included in this report.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA-CR-196030 , NAS 1.26:196030 , ME/ES-TR-94-1
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 6
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    Design and simulation of EVA tools for first servicing mission of HST (1993)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: The Hubble Space Telescope (HST) was launched into near-earth orbit by the space shuttle Discovery on April 24, 1990. The payload of two cameras, two spectrographs, and a high-speed photometer is supplemented by three fine-guidance sensors that can be used for astronomy as well as for star tracking. A widely reported spherical aberration in the primary mirror causes HST to produce images of much lower quality than intended. A space shuttle repair mission in late 1993 will install small corrective mirrors that will restore the full intended optical capability of the HST. The first servicing mission (FSM) will involve considerable extravehicular activity (EVA). It is proposed to design special EVA tools for the FSM. This report includes details of the data acquisition system being developed to test the performance of the various EVA tools in ambient as well as simulated space environment.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA-CR-194784 , NAS 1.26:194784 , TR-ME/ES-93-2
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 7
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    Magnetostrictive direct drive motors (1990)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: Developing magnetostrictive direct drive research motors to power robot joints is discussed. These type motors are expected to produce extraordinary torque density, to be able to perform microradian incremental steps and to be self-braking and safe with the power off. Several types of motor designs have been attempted using magnetostrictive materials. One of the candidate approaches (the magnetostrictive roller drive) is described. The method in which the design will function is described as is the reason why this approach is inherently superior to the other approaches. Following this, the design will be modelled and its expected performance predicted. This particular candidate design is currently undergoing detailed engineering with prototype construction and testing scheduled for mid 1991.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-186895 , NAS 1.26:186895
    Format: application/pdf
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    NASA TECHNICAL REPORTS
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