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  • 1
    Electronic Resource
    Electronic Resource
    Finite element design of manipulator-coupled spacecraft for a research testbed (1995)
    Springer
    Journal of intelligent and robotic systems 13 (1995), S. 75-91 
    Details
    ISSN: 1573-0409
    Keywords: Harmonic drives ; Manipulator-Coupled Spacecraft ; Control Moment Gyro ; Finite Element Analysis ; Lagrangian Equations of Motion
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract This paper describes the design and analysis of a research testbed developed to study the control of manipulator-coupled spacecraft with independent attitude control systems. This scenario could present itself in the assembly of Space Station Freedom (SSF). SSF assembly calls for a rendezvous of the Space Shuttle (SS) with SSF. Part of the assembly process requires that both spacecraft be coupled via the Space Shuttle Remote Manipulator System. An additional criterion that poses increased complexity is that the Space Shuttle controls and Space Station controls can not communicate. The technical issue involved is unwanted vibrations of the coupled-configuration that occur retraction and the complications due to non-interacting control systems. To understand these vibrations and possible complications, a research testbed has been built at the Marshall Space Flight Center in Huntsville, AL. To build the testbed, the manipulator links joints, and vehicles that represent the Space Shuttle and Space Station had to be designed. Pre-design simulation studies using ANSYS [1] (a Finite Element Computer Code) is used to size and design the manipulator links for the experimental facility. The ANSYS results were verified by the development of the Lagrangian Equations of motion. The Harmonic drives used as joints for the two link, three joint manipulator have been dissected into free body diagrams to ensure proper load paths in the ANSYS models. Accurate simulation of manipulator-coupled spacecraft is an important technology for NASA to understand. This paper outlines the methodology behind the preliminary design of a research testbed developed to help NASA gain knowledge in this area.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF01664756
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    Paper (German National Licenses)
    Fulltext
  • 2
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    The MSFC space station/space operations mechanism test bed (1991)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: The Space Station/Space Operations Mechanism Test Bed consists of the following: a hydraulically driven, computer controlled Six Degree-of-Freedom Motion System (6DOF); a six degree-of-freedom force and moment sensor; remote driving stations with computer generated or live TV graphics; and a parallel digital processor that performs calculations to support the real time simulation. The function of the Mechanism Test Bed is to test docking and berthing mechanisms for Space Station Freedom and other orbiting space vehicles in a real time, hardware-in-the-loop simulation environment. Typically, the docking and berthing mechanisms are composed of two mating components, one for each vehicle. In the facility, one component is attached to the motion system, while the other component is mounted to the force/moment sensor fixed in the support structure above the 6DOF. The six components of the contact forces/moments acting on the test article and its mating component are measured by the force/moment sensor.
    Keywords: GROUND SUPPORT SYSTEMS AND FACILITIES (SPACE)
    Type: NASA, Washington, NASA Automated Rendezvous and Capture Review. A Compilation of the Abstracts; 3 p
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 3
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    NASA MSFC hardware in the loop simulations of automatic rendezvous and capture systems (1991)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: Two complementary hardware-in-the-loop simulation facilities for automatic rendezvous and capture systems at MSFC are described. One, the Flight Robotics Laboratory, uses an 8 DOF overhead manipulator with a work volume of 160 by 40 by 23 feet to evaluate automatic rendezvous algorithms and range/rate sensing systems. The other, the Space Station/Station Operations Mechanism Test Bed, uses a 6 DOF hydraulic table to perform docking and berthing dynamics simulations.
    Keywords: SPACECRAFT DESIGN, TESTING AND PERFORMANCE
    Type: NASA, Washington, NASA Automated Rendezvous and Capture Review. Executive Summary; p 38-39
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 4
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    A program for the investigation of the Multibody Modeling, Verification, and Control Laboratory (1993)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: The Multibody Modeling, Verification, and Control (MMVC) Laboratory is under development at NASA MSFC in Huntsville, Alabama. The laboratory will provide a facility in which dynamic tests and analyses of multibody flexible structures representative of future space systems can be conducted. The purpose of the tests are to acquire dynamic measurements of the flexible structures undergoing large angle motions and use the data to validate the multibody modeling code, TREETOPS, developed under sponsorship of NASA. Advanced control systems design and system identification methodologies will also be implemented in the MMVC laboratory. This paper describes the ground test facility, the real-time control system, and the experiments. A top-level description of the TREETOPS code is also included along with the validation plan for the MMVC program. Dynamic test results from component testing are also presented and discussed. A detailed discussion of the test articles, which manifest the properties of large flexible space structures, is included along with a discussion of the various candidate control methodologies to be applied in the laboratory.
    Keywords: COMPUTER PROGRAMMING AND SOFTWARE
    Type: JPL, Proceedings of the Fifth NASA(NSF)DOD Workshop on Aerospace Computational Control; p 553-567
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    NASA TECHNICAL REPORTS
  • 5
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    Contact dynamics math model (1986)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The Space Station Mechanism Test Bed consists of a hydraulically driven, computer controlled six degree of freedom (DOF) motion system with which docking, berthing, and other mechanisms can be evaluated. Measured contact forces and moments are provided to the simulation host computer to enable representation of orbital contact dynamics. This report describes the development of a generalized math model which represents the relative motion between two rigid orbiting vehicles. The model allows motion in six DOF for each body, with no vehicle size limitation. The rotational and translational equations of motion are derived. The method used to transform the forces and moments from the sensor location to the vehicles' centers of mass is also explained. Two math models of docking mechanisms, a simple translational spring and the Remote Manipulator System end effector, are presented along with simulation results. The translational spring model is used in an attempt to verify the simulation with compensated hardware in the loop results.
    Keywords: COMPUTER PROGRAMMING AND SOFTWARE
    Type: NASA-CR-179147 , NAS 1.26:179147
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 6
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    Methods for modeling contact dynamics of capture mechanisms (1991)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: In this paper, an analytical approach for studying the contact dynamics of space-based vehicles during docking/berthing maneuvers is presented. Methods for modeling physical contact between docking/berthing mechanisms, examples of how these models have been used to evaluate the dynamic behavior of automated capture mechanisms, and experimental verification of predicted results are shown.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Washington, NASA Automated Rendezvous and Capture Review. A Compilation of the Abstracts; 2 p
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 7
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    Automatic rendezvous system testing at the Flight Robotics Laboratory (1991)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The Flight Robotics Laboratory of MSFC provides sophisticated real time simulation capability in the study of human/system interactions of remote systems. This paper will describe the Flight Robotics Facility of NASA/MSFC, the hardware-in-the-loop simulation configuration, and test results.
    Keywords: GROUND SUPPORT SYSTEMS AND FACILITIES (SPACE)
    Type: NASA, Washington, NASA Automated Rendezvous and Capture Review. A Compilation of the Abstracts; 2 p
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 8
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    A testbed for research on manipulator-coupled active spacecraft (1993)
    In:  Other Sources
    Details
    Publication Date: 2019-06-28
    Description: This paper describes a testbed developed to study control of manipulator-coupled spacecraft with active attitude control systems. Pre-design simulation studies are described that were used to size and design the experimental facility and plan testing programs. Results on the dynamics and control of this testbed are presented that were obtained from both simulations and experiments. Initial experimental results have been used to refine the simulators using output matching system identification. Results from this system identification are included in the form of comparisons between simulation and experiment time histories for various model parameter values. These show that the testbed is inherently nonlinear and that parameters, harmonic gear effectiveness, in particular, have appreciable effects on the dynamics.
    Keywords: CYBERNETICS
    Type: AIAA PAPER 93-3717 , In: AIAA Guidance, Navigation and Control Conference, Monterey, CA, Aug. 9-11, 1993, Technical Papers. Pt. 1 (A93-51301 22-63); p. 157-164.
    Format: text
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    NASA TECHNICAL REPORTS
  • 9
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    The flight robotics laboratory (1988)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The Flight Robotics Laboratory of the Marshall Space Flight Center is described in detail. This facility, containing an eight degree of freedom manipulator, precision air bearing floor, teleoperated motion base, reconfigurable operator's console, and VAX 11/750 computer system, provides simulation capability to study human/system interactions of remote systems. The facility hardware, software and subsequent integration of these components into a real time man-in-the-loop simulation for the evaluation of spacecraft contact proximity and dynamics are described.
    Keywords: GROUND SUPPORT SYSTEMS AND FACILITIES (SPACE)
    Type: NASA, Goddard Space Flight Center, 15th Space Simulation Conference: Support the Highway to Space Through Testing; p 158-167
    Format: application/pdf
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  • 10
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    Mechanisms test bed math model modification and simulation support (1995)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: This report summarizes the work performed under contract NAS8-38771 in support of the Marshall Space Flight Center Six Degree of Freedom Motion Facility and Flight Robotics Laboratory. The contract activities included the development of the two flexible body and Remote Manipulator System simulations, Dynamic Overhead Target Simulator control system and operating software, Global Positioning System simulation, and Manipulator Coupled Spacecraft Controls Testbed. Technical support was also provided for the Lightning Imaging Sensor and Solar X-Ray Imaging programs. The cover sheets and introductory sections for the documentation written under this contract are provided as an appendix.
    Keywords: RESEARCH AND SUPPORT FACILITIES (AIR)
    Type: NASA-CR-199826 , NAS 1.26:199826 , REPT-TH50050A , NIPS-95-06432
    Format: application/pdf
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    NASA TECHNICAL REPORTS
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